KR102164195B1 - 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법 - Google Patents

다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법 Download PDF

Info

Publication number
KR102164195B1
KR102164195B1 KR1020157028814A KR20157028814A KR102164195B1 KR 102164195 B1 KR102164195 B1 KR 102164195B1 KR 1020157028814 A KR1020157028814 A KR 1020157028814A KR 20157028814 A KR20157028814 A KR 20157028814A KR 102164195 B1 KR102164195 B1 KR 102164195B1
Authority
KR
South Korea
Prior art keywords
motion
joint
joints
exercise
space
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
KR1020157028814A
Other languages
English (en)
Korean (ko)
Other versions
KR20150132326A (ko
Inventor
아르장 아우어타쉬
Original Assignee
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 filed Critical 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
Priority to KR1020207027960A priority Critical patent/KR102285954B1/ko
Publication of KR20150132326A publication Critical patent/KR20150132326A/ko
Application granted granted Critical
Publication of KR102164195B1 publication Critical patent/KR102164195B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39079—Solve inverse differential kinematics in closed, feedback loop, iterate
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40327—Calculation, inverse kinematics solution using damped least squares method
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41405—Inverse kinematic, dynamic

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
KR1020157028814A 2013-03-15 2014-03-18 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법 Active KR102164195B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020207027960A KR102285954B1 (ko) 2013-03-15 2014-03-18 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361800810P 2013-03-15 2013-03-15
US61/800,810 2013-03-15
PCT/US2014/031055 WO2014146095A1 (en) 2013-03-15 2014-03-18 System and methods for managing multiple null-space objectives and sli behaviors

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020207027960A Division KR102285954B1 (ko) 2013-03-15 2014-03-18 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법

Publications (2)

Publication Number Publication Date
KR20150132326A KR20150132326A (ko) 2015-11-25
KR102164195B1 true KR102164195B1 (ko) 2020-10-12

Family

ID=50736165

Family Applications (3)

Application Number Title Priority Date Filing Date
KR1020157028814A Active KR102164195B1 (ko) 2013-03-15 2014-03-18 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법
KR1020217024230A Active KR102391773B1 (ko) 2013-03-15 2014-03-18 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법
KR1020207027960A Active KR102285954B1 (ko) 2013-03-15 2014-03-18 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법

Family Applications After (2)

Application Number Title Priority Date Filing Date
KR1020217024230A Active KR102391773B1 (ko) 2013-03-15 2014-03-18 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법
KR1020207027960A Active KR102285954B1 (ko) 2013-03-15 2014-03-18 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법

Country Status (6)

Country Link
US (3) US10513031B2 (https=)
EP (2) EP2969407B1 (https=)
JP (3) JP6423853B2 (https=)
KR (3) KR102164195B1 (https=)
CN (4) CN105120788B (https=)
WO (1) WO2014146095A1 (https=)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104717935B (zh) 2012-08-15 2018-04-06 直观外科手术操作公司 利用零空间取消关节运动的系统
CN105120788B (zh) 2013-03-15 2018-10-16 直观外科手术操作公司 用于管理多个零空间目标和饱和sli行为的系统和方法
EP3868326B1 (en) 2014-03-17 2025-12-31 Intuitive Surgical Operations, Inc. TOOL POSITIONING SYSTEM
JP6682512B2 (ja) 2014-10-27 2020-04-15 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 一体化された手術台のシステム及び方法
JP6676061B2 (ja) 2014-10-27 2020-04-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 統合された手術台運動のためのシステム及び方法
EP3212148B1 (en) 2014-10-27 2025-07-09 Intuitive Surgical Operations, Inc. System for integrated surgical table icons
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
CN110584789B (zh) 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
WO2016069660A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for monitoring control points during reactive motion
KR102655083B1 (ko) 2014-10-27 2024-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
JP6147459B2 (ja) * 2015-05-29 2017-06-14 オリンパス株式会社 医療用マニピュレータシステム
JP6778199B2 (ja) * 2015-08-25 2020-10-28 川崎重工業株式会社 遠隔操作ロボットシステム
JP2017177321A (ja) * 2016-03-23 2017-10-05 セイコーエプソン株式会社 制御装置及びロボットシステム
CN107811710B (zh) * 2017-10-31 2019-09-17 微创（上海）医疗机器人有限公司 手术辅助定位系统
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
WO2020236814A1 (en) * 2019-05-23 2020-11-26 Intuitive Surgical Operations, Inc. Systems and methods for generating workspace volumes and identifying reachable workspaces of surgical instruments
US10758309B1 (en) 2019-07-15 2020-09-01 Digital Surgery Limited Methods and systems for using computer-vision to enhance surgical tool control during surgeries
GB2588629B (en) * 2019-10-29 2024-01-03 Cmr Surgical Ltd Robotic joint control
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
CN111538234B (zh) * 2020-07-08 2020-10-09 深圳市优必选科技股份有限公司 任务分层控制方法、装置、机器人和可读存储介质
CN111966074A (zh) * 2020-08-04 2020-11-20 厦门理工学院 一种工业控制设备安全测试系统及方法
WO2022144639A1 (en) * 2020-12-30 2022-07-07 Auris Health, Inc. Systems and methods for unified null space motion control
IT202100003476A1 (it) * 2021-02-16 2022-08-16 Medical Microinstruments Inc Metodo per rilevare, sulla base di misura o rilevazione di velocità, anomalie operative di un dispositivo master non vincolato di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica
IT202100003422A1 (it) * 2021-02-16 2022-08-16 Medical Microinstruments Inc Metodo per rilevare anomalie operative di un dispositivo master non vincolato di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica
IT202100003479A1 (it) * 2021-02-16 2022-08-16 Medical Microinstruments Inc Metodo per avviare una teleoperazione svolta mediante un sistema robotico per teleoperazione medica o chirurgica, avente un dispositivo master meccanicamente non vincolato e movimentabile da un operatore, con controllo di sistemi di coordinate di riferimento locali
CN114052917A (zh) * 2021-11-16 2022-02-18 深圳市精锋医疗科技股份有限公司 操作臂、从操作设备和手术机器人
CN114083519B (zh) * 2021-12-31 2023-05-09 北京敏锐达致机器人科技有限责任公司 机器人零空间拖动示教方法及示教装置
JP2023103734A (ja) * 2022-01-14 2023-07-27 キヤノン株式会社 連続体ロボットシステム
CN114951475B (zh) * 2022-05-23 2023-09-05 无锡维凯科技有限公司 一种满足前后冲床节拍的移载分料机构
CN120076901A (zh) 2022-10-17 2025-05-30 直观外科手术操作公司 控制受运动限制的计算机辅助系统的软件远程运动中心
WO2026030203A1 (en) * 2024-07-29 2026-02-05 Intuitive Surgical Operations, Inc. Facilitating operation of a manipulator through reconfiguration of a proximal segment of the manipulator

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5430643A (en) 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US20020120363A1 (en) 1998-12-08 2002-08-29 J. Kenneth Salisbury Mater having redundant degrees of freedom
JP2004094399A (ja) 2002-08-29 2004-03-25 Mitsubishi Heavy Ind Ltd 多関節マニピュレータの制御方法及びその制御プログラム、並びにその制御システム
WO2007076119A2 (en) 2005-12-22 2007-07-05 Honda Motor Co., Ltd. Reconstruction, retargetting, tracking, and estimation of pose of articulated systems

Family Cites Families (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04340603A (ja) * 1991-05-17 1992-11-27 Mitsubishi Electric Corp 障害物回避を考慮したマニピュレータの制御方法
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5184601A (en) 1991-08-05 1993-02-09 Putman John M Endoscope stabilizer
ATE215430T1 (de) 1992-01-21 2002-04-15 Stanford Res Inst Int Endoskopisches chirurgisches instrument
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
DE69417229T2 (de) 1993-05-14 1999-07-08 Sri International, Menlo Park, Calif. Chirurgiegerät
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US6786896B1 (en) 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus
US6246200B1 (en) 1998-08-04 2001-06-12 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US6565554B1 (en) * 1999-04-07 2003-05-20 Intuitive Surgical, Inc. Friction compensation in a minimally invasive surgical apparatus
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US10029367B2 (en) 1999-09-17 2018-07-24 Intuitive Surgical Operations, Inc. System and method for managing multiple null-space objectives and constraints
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US9510911B2 (en) 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
US9517106B2 (en) * 1999-09-17 2016-12-13 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
US6702805B1 (en) 1999-11-12 2004-03-09 Microdexterity Systems, Inc. Manipulator
EP1351619A4 (en) 2001-01-16 2011-01-05 Microdexterity Systems Inc SURGICAL MANIPULATOR
KR20080028959A (ko) * 2005-07-25 2008-04-02 올림푸스 메디칼 시스템즈 가부시키가이샤 의료용 제어 장치
JP4823597B2 (ja) * 2005-07-25 2011-11-24 オリンパスメディカルシステムズ株式会社 医療用制御装置
US7741802B2 (en) * 2005-12-20 2010-06-22 Intuitive Surgical Operations, Inc. Medical robotic system with programmably controlled constraints on error dynamics
US8620473B2 (en) * 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US7843158B2 (en) * 2008-03-31 2010-11-30 Intuitive Surgical Operations, Inc. Medical robotic system adapted to inhibit motions resulting in excessive end effector forces
CN101327589B (zh) * 2008-07-10 2010-12-22 上海交通大学 遥操作平面冗余度机械臂指令输入及构型控制系统及方法
CN104799890B (zh) * 2009-11-13 2017-03-22 直观外科手术操作公司 弯曲套管和机器人操纵器
JP5475629B2 (ja) * 2010-01-12 2014-04-16 本田技研工業株式会社 軌道計画方法、軌道計画システム及びロボット
IT1401669B1 (it) * 2010-04-07 2013-08-02 Sofar Spa Sistema di chirurgia robotizzata con controllo perfezionato.
KR101598773B1 (ko) * 2010-10-21 2016-03-15 (주)미래컴퍼니 수술용 로봇의 움직임 제어/보상 방법 및 장치
US9101379B2 (en) * 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
CN102126219B (zh) * 2010-11-22 2012-11-07 中山大学 一种冗余度机械臂容错型运动规划方法
CN102387532B (zh) 2011-01-10 2013-12-04 华为技术有限公司 频点信息处理方法和用户设备
EP2774729A4 (en) * 2011-09-15 2016-05-18 Yaskawa Denki Seisakusho Kk ROBOTIC SYSTEM AND ROBOT CONTROL
EP2785267B1 (en) 2011-11-30 2022-01-12 Titan Medical Inc. Apparatus and method for supporting a robotic arm
CN102902269B (zh) * 2012-09-21 2015-07-01 北京邮电大学 预选择最小距离指标冗余机器人动态避障方法
CN102896628A (zh) * 2012-09-27 2013-01-30 河南科技大学 一种四自由度全解耦并联机器人机构
CN105338920B (zh) * 2013-03-15 2018-01-26 直观外科手术操作公司 用于利用零空间跟踪路径的系统和方法
WO2014146119A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Systems and methods for facilitating access to edges of cartesian-coordinate space using the null space
CN105120788B (zh) 2013-03-15 2018-10-16 直观外科手术操作公司 用于管理多个零空间目标和饱和sli行为的系统和方法
KR102188100B1 (ko) * 2013-03-15 2020-12-07 삼성전자주식회사 로봇 및 그 제어방법
US10957077B2 (en) 2016-09-01 2021-03-23 Warple Inc. Systems and methods for obtaining opinion data from individuals via a web widget and displaying a graphic visualization of aggregated opinion data with waveforms that may be embedded into the web widget

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5430643A (en) 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US20020120363A1 (en) 1998-12-08 2002-08-29 J. Kenneth Salisbury Mater having redundant degrees of freedom
JP2004094399A (ja) 2002-08-29 2004-03-25 Mitsubishi Heavy Ind Ltd 多関節マニピュレータの制御方法及びその制御プログラム、並びにその制御システム
WO2007076119A2 (en) 2005-12-22 2007-07-05 Honda Motor Co., Ltd. Reconstruction, retargetting, tracking, and estimation of pose of articulated systems

Also Published As

Publication number Publication date
EP4115839A1 (en) 2023-01-11
CN105120788A (zh) 2015-12-02
KR102391773B1 (ko) 2022-04-28
US20180243906A1 (en) 2018-08-30
JP2019048084A (ja) 2019-03-28
US20200061813A1 (en) 2020-02-27
JP2020000904A (ja) 2020-01-09
CN109171975A (zh) 2019-01-11
CN112932676A (zh) 2021-06-11
CN105120788B (zh) 2018-10-16
US20220032453A1 (en) 2022-02-03
JP6423853B2 (ja) 2018-11-14
WO2014146095A1 (en) 2014-09-18
KR102285954B1 (ko) 2021-08-05
KR20200116544A (ko) 2020-10-12
JP6585265B2 (ja) 2019-10-02
CN112932676B (zh) 2025-01-21
US11602840B2 (en) 2023-03-14
JP2016514492A (ja) 2016-05-23
US10513031B2 (en) 2019-12-24
JP6793797B2 (ja) 2020-12-02
EP2969407B1 (en) 2022-11-02
KR20150132326A (ko) 2015-11-25
US11173598B2 (en) 2021-11-16
CN109171975B (zh) 2021-04-09
CN119745519A (zh) 2025-04-04
KR20210098549A (ko) 2021-08-10
EP2969407A1 (en) 2016-01-20

Similar Documents

Publication Publication Date Title
KR102164195B1 (ko) 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법
KR102214811B1 (ko) 매니퓰레이터 조인트 운동을 비등방적으로 증폭시키기 위해 영공간을 이용하는 시스템 및 방법
US10029367B2 (en) System and method for managing multiple null-space objectives and constraints
US11213360B2 (en) Systems and methods for utilizing augmented jacobian to control manipulator joint movement
US9510911B2 (en) System and methods for managing multiple null-space objectives and SLI behaviors
KR102217573B1 (ko) 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법
KR102214809B1 (ko) 영공간을 이용하여 카테시안 좌표의 에지에의 액세스를 조장하기 위한 시스템 및 방법
KR102154521B1 (ko) 영공간 운동과 동시적인 영직교공간 내에서의 클러칭에 의해 매니퓰레이터 암을 포지셔닝시키기 위한 시스템 및 방법
EP2854687B1 (en) Systems for avoiding collisions between manipulator arms using a null-space
WO2013181503A1 (en) Manipulator arm-to-patient collision avoidance using a null-space

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

R18-X000 Changes to party contact information recorded

St.27 status event code: A-3-3-R10-R18-oth-X000

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

A201 Request for examination
E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

D13-X000 Search requested

St.27 status event code: A-1-2-D10-D13-srh-X000

D14-X000 Search report completed

St.27 status event code: A-1-2-D10-D14-srh-X000

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

A107 Divisional application of patent
PA0104 Divisional application for international application

St.27 status event code: A-0-1-A10-A18-div-PA0104

St.27 status event code: A-0-1-A10-A16-div-PA0104

GRNT Written decision to grant
PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 4

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 5

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 6

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-OTH-PR1001 (AS PROVIDED BY THE NATIONAL OFFICE)

Year of fee payment: 6