KR102214809B1 - 영공간을 이용하여 카테시안 좌표의 에지에의 액세스를 조장하기 위한 시스템 및 방법 - Google Patents

영공간을 이용하여 카테시안 좌표의 에지에의 액세스를 조장하기 위한 시스템 및 방법 Download PDF

Info

Publication number
KR102214809B1
KR102214809B1 KR1020157028821A KR20157028821A KR102214809B1 KR 102214809 B1 KR102214809 B1 KR 102214809B1 KR 1020157028821 A KR1020157028821 A KR 1020157028821A KR 20157028821 A KR20157028821 A KR 20157028821A KR 102214809 B1 KR102214809 B1 KR 102214809B1
Authority
KR
South Korea
Prior art keywords
motion
joint
joints
end effector
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
KR1020157028821A
Other languages
English (en)
Korean (ko)
Other versions
KR20150133756A (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
Publication of KR20150133756A publication Critical patent/KR20150133756A/ko
Application granted granted Critical
Publication of KR102214809B1 publication Critical patent/KR102214809B1/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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • 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
    • G05B2219/40371—Control trajectory to avoid joint limit as well as obstacle collision
    • 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
    • G05B2219/40474—Using potential fields

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
KR1020157028821A 2013-03-15 2014-03-18 영공간을 이용하여 카테시안 좌표의 에지에의 액세스를 조장하기 위한 시스템 및 방법 Active KR102214809B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361800381P 2013-03-15 2013-03-15
US61/800,381 2013-03-15
PCT/US2014/031103 WO2014146119A1 (en) 2013-03-15 2014-03-18 Systems and methods for facilitating access to edges of cartesian-coordinate space using the null space

Publications (2)

Publication Number Publication Date
KR20150133756A KR20150133756A (ko) 2015-11-30
KR102214809B1 true KR102214809B1 (ko) 2021-02-10

Family

ID=50687668

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020157028821A Active KR102214809B1 (ko) 2013-03-15 2014-03-18 영공간을 이용하여 카테시안 좌표의 에지에의 액세스를 조장하기 위한 시스템 및 방법

Country Status (6)

Country Link
US (2) US9375284B2 (enExample)
EP (1) EP2969405B1 (enExample)
JP (1) JP6535653B2 (enExample)
KR (1) KR102214809B1 (enExample)
CN (1) CN105050526B (enExample)
WO (1) WO2014146119A1 (enExample)

Families Citing this family (61)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10029367B2 (en) * 1999-09-17 2018-07-24 Intuitive Surgical Operations, Inc. System and method for managing multiple null-space objectives and constraints
US9510911B2 (en) * 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
KR102145801B1 (ko) * 2012-08-15 2020-08-28 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술용 장착 플랫폼의 사용자 개시 브레이크-어웨이 클러칭
WO2014028703A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Systems and methods for cancellation of joint motion using the null-space
JP6535653B2 (ja) 2013-03-15 2019-06-26 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 ゼロ空間を使用してデカルト座標空間の端へのアクセスを容易にするためのシステム及び方法
JP6423853B2 (ja) 2013-03-15 2018-11-14 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 ゼロ空間での複数の目標及びｓｌｉ動作を取り扱うシステム及び方法
WO2014146120A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Systems and methods for using the null space to emphasize anipulator joint motion anisotropically
DE102013222456A1 (de) * 2013-11-05 2015-05-07 Kuka Laboratories Gmbh Verfahren zum Programmieren von Bewegungsabläufen eines redundanten Industrieroboters und zugehöriger Industrieroboter
WO2015142947A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. System and method for aligning with a reference target
US9597153B2 (en) 2014-03-17 2017-03-21 Intuitive Surgical Operations, Inc. Positions for multiple surgical mounting platform rotation clutch buttons
WO2016009301A2 (en) * 2014-07-15 2016-01-21 Koninklijke Philips N.V. Reconfigurable robot architecture for minimally invasive procedures
EP3193768A4 (en) 2014-09-17 2018-05-09 Intuitive Surgical Operations, Inc. Systems and methods for utilizing augmented jacobian to control manipulator joint movement
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
WO2016069650A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table icons
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
CN107072728B (zh) 2014-10-27 2020-07-17 直观外科手术操作公司 用于在反应运动期间监测控制点的系统和方法
KR102757751B1 (ko) 2014-10-27 2025-01-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블을 위한 시스템 및 방법
CN107072727B (zh) 2014-10-27 2020-01-24 直观外科手术操作公司 具有主动制动器释放控制装置的医疗装置
KR102623373B1 (ko) 2014-10-27 2024-01-11 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
DE102014118001A1 (de) * 2014-12-05 2016-06-09 Broetje-Automation Gmbh Verfahren zur Bewegungssimulation eines Manipulators
DE102015009151A1 (de) * 2015-07-14 2017-01-19 Kuka Roboter Gmbh Ermitteln eines Eingabebefehls für einen Roboter, der durch manuelles Ausüben einer Kraft auf den Roboter eingegeben wird
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
JP6956081B2 (ja) 2015-11-11 2021-10-27 マコ サージカル コーポレーション ロボットシステム及びロボットシステムをバックドライブする方法
EP3419543B1 (en) 2016-02-26 2023-04-05 Intuitive Surgical Operations, Inc. System for collision avoidance using virtual boundaries
US10111719B2 (en) 2016-08-16 2018-10-30 Ethicon Llc Control of the rate of actuation of tool mechanism based on inherent parameters
CN107647916A (zh) * 2017-09-29 2018-02-02 重庆金山医疗器械有限公司 手术机器人的主动臂
US10888386B2 (en) 2018-01-17 2021-01-12 Auris Health, Inc. Surgical robotics systems with improved robotic arms
WO2020172394A1 (en) 2019-02-22 2020-08-27 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
EP3705074A1 (en) 2019-03-08 2020-09-09 MAKO Surgical Corp. Systems and methods for controlling movement of a surgical tool along a predefined path
CN109998685A (zh) * 2019-03-28 2019-07-12 山东大学齐鲁医院 一种单、双臂辅助微创外科手术机器人及协作组合机器人系统
EP4137033A1 (en) * 2019-04-03 2023-02-22 Intuitive Surgical Operations, Inc. System and method for view restoration
US12138003B2 (en) 2019-06-25 2024-11-12 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
WO2020263949A1 (en) 2019-06-28 2020-12-30 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
CN110397254B (zh) * 2019-08-19 2022-05-06 广东博智林机器人有限公司 一种四自由度运动机构和铺贴机器人
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11229494B2 (en) 2019-10-24 2022-01-25 Verb Surgical Inc. Regulating joint space velocity of a surgical robotic arm
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
US12357409B2 (en) 2019-11-21 2025-07-15 Auris Health, Inc. Systems and methods for draping a surgical system
CN111113417B (zh) * 2019-12-25 2021-10-29 广东省智能制造研究所 一种分布式多机器人协同运动控制方法及系统
CN113119100B (zh) * 2019-12-30 2022-05-13 深圳市优必选科技股份有限公司 冗余机械臂控制方法、装置、可读存储介质及设备
US11439419B2 (en) 2019-12-31 2022-09-13 Auris Health, Inc. Advanced basket drive mode
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
CN115515523A (zh) 2020-03-30 2022-12-23 奥瑞斯健康公司 机器人外科手术的工作空间优化
US11839969B2 (en) 2020-06-29 2023-12-12 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
CN113967075B (zh) * 2020-07-23 2025-11-18 北京术锐机器人股份有限公司 一种具有多关节定位机械臂的手术机器人系统
WO2022003493A1 (en) 2020-06-30 2022-01-06 Auris Health, Inc. Robotic medical system with collision proximity indicators
US20220000568A1 (en) * 2020-07-05 2022-01-06 Transenterix Surgical, Inc. System and Method for Modulating Tissue Retraction Force in a Surgical Robotic System
CN113116568B (zh) * 2021-04-08 2022-05-20 天津大学 一种混联牙科手术机器人构型
CN113787518B (zh) * 2021-09-06 2022-11-11 武汉库柏特科技有限公司 一种机器人末端姿态控制方法、装置、设备及存储介质
CN116000911B (zh) * 2021-10-22 2024-09-20 瑞龙诺赋(上海)医疗科技有限公司 一种机械臂控制方法、装置以及机械臂
CN114393605B (zh) * 2022-03-11 2025-01-07 江苏高倍智能装备有限公司 一种新型三维编织机械臂及其制作方法
CN114536348B (zh) * 2022-04-08 2023-05-26 北京邮电大学 一种高欠驱动空间机械臂运动灵巧性评估方法
CN115317794B (zh) * 2022-08-10 2025-06-06 广州龙之杰科技集团有限公司 基于动态跟踪的经颅磁刺激导航方法、装置、设备及介质
US20240286284A1 (en) * 2023-02-24 2024-08-29 Dexterity, Inc. Robot with articulated or variable length upper arm

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 (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
ATE155059T1 (de) 1992-01-21 1997-07-15 Stanford Res Inst Int Teleoperateursystem und verfahren mit teleanwesenheit
US5499320A (en) * 1993-03-24 1996-03-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Extended task space control for robotic manipulators
WO1994026167A1 (en) 1993-05-14 1994-11-24 Sri International Remote center positioner
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US5784542A (en) * 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
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
EP2362286B1 (en) 1997-09-19 2015-09-02 Massachusetts Institute Of Technology Robotic apparatus
DE69940850D1 (de) 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
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
AU2002248360A1 (en) 2001-01-16 2002-08-19 Microdexterity Systems, Inc. Surgical manipulator
EP1887961B1 (en) * 2005-06-06 2012-01-11 Intuitive Surgical Operations, Inc. Laparoscopic ultrasound robotic surgical system
KR101332210B1 (ko) * 2005-06-30 2013-11-25 인튜어티브 서지컬 인코포레이티드 멀티암 로보트 원격 외과수술에서 툴 상태에 대한 인디케이터와 통신
US8377045B2 (en) * 2006-06-13 2013-02-19 Intuitive Surgical Operations, Inc. Extendable suction surface for bracing medial devices during robotically assisted medical procedures
US8126114B2 (en) * 2008-09-12 2012-02-28 Accuray Incorporated Seven or more degrees of freedom robotic manipulator having at least one redundant joint
US9101379B2 (en) * 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
EP2785267B1 (en) 2011-11-30 2022-01-12 Titan Medical Inc. Apparatus and method for supporting a robotic arm
KR102167359B1 (ko) 2012-06-01 2020-10-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영공간을 이용한 수술 머니퓰레이터의 명령된 재구성을 위한 시스템 및 방법
EP2854688B1 (en) 2012-06-01 2022-08-17 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
JP6262216B2 (ja) 2012-06-01 2018-01-17 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 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
WO2014028703A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Systems and methods for cancellation of joint motion using the null-space
JP6535653B2 (ja) 2013-03-15 2019-06-26 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 ゼロ空間を使用してデカルト座標空間の端へのアクセスを容易にするためのシステム及び方法

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
EP2969405B1 (en) 2022-08-24
EP2969405A1 (en) 2016-01-20
US20160302875A1 (en) 2016-10-20
JP2016514493A (ja) 2016-05-23
US20140276954A1 (en) 2014-09-18
JP6535653B2 (ja) 2019-06-26
KR20150133756A (ko) 2015-11-30
CN105050526A (zh) 2015-11-11
US9375284B2 (en) 2016-06-28
CN105050526B (zh) 2018-06-01
US9844415B2 (en) 2017-12-19
WO2014146119A1 (en) 2014-09-18

Similar Documents

Publication Publication Date Title
KR102214809B1 (ko) 영공간을 이용하여 카테시안 좌표의 에지에의 액세스를 조장하기 위한 시스템 및 방법
US12064197B2 (en) System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
KR102217573B1 (ko) 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법
KR102167359B1 (ko) 영공간을 이용한 수술 머니퓰레이터의 명령된 재구성을 위한 시스템 및 방법
US11213360B2 (en) Systems and methods for utilizing augmented jacobian to control manipulator joint movement
KR102214811B1 (ko) 매니퓰레이터 조인트 운동을 비등방적으로 증폭시키기 위해 영공간을 이용하는 시스템 및 방법
KR102164195B1 (ko) 다중 영공간 목적 및 sli 거동을 관리하기 위한 시스템 및 방법

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20151013

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20190304

Comment text: Request for Examination of Application

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20200820

Patent event code: PE09021S01D

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

Patent event code: PE07011S01D

Comment text: Decision to Grant Registration

Patent event date: 20210201

GRNT Written decision to grant
PR0701 Registration of establishment

Comment text: Registration of Establishment

Patent event date: 20210204

Patent event code: PR07011E01D

PR1002 Payment of registration fee

Payment date: 20210205

End annual number: 3

Start annual number: 1

PG1601 Publication of registration
PR1001 Payment of annual fee

Payment date: 20240130

Start annual number: 4

End annual number: 4

PR1001 Payment of annual fee

Payment date: 20250124

Start annual number: 5

End annual number: 5