KR102512876B1 - 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법 - Google Patents

입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법 Download PDF

Info

Publication number
KR102512876B1
KR102512876B1 KR1020227005163A KR20227005163A KR102512876B1 KR 102512876 B1 KR102512876 B1 KR 102512876B1 KR 1020227005163 A KR1020227005163 A KR 1020227005163A KR 20227005163 A KR20227005163 A KR 20227005163A KR 102512876 B1 KR102512876 B1 KR 102512876B1
Authority
KR
South Korea
Prior art keywords
eye
user
light
right eye
surgeon
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
KR1020227005163A
Other languages
English (en)
Korean (ko)
Other versions
KR20220028139A (ko
Inventor
앤쏘니 마이클 자크
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 KR1020237009137A priority Critical patent/KR102709112B1/ko
Publication of KR20220028139A publication Critical patent/KR20220028139A/ko
Application granted granted Critical
Publication of KR102512876B1 publication Critical patent/KR102512876B1/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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/0016—Operational features thereof
    • A61B3/0041—Operational features thereof characterised by display arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/113—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for determining or recording eye movement
    • 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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient; User input means
    • A61B5/742—Details of notification to user or communication with user or patient; User input means using visual displays
    • A61B5/7445—Display arrangements, e.g. multiple display units
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/0004—Microscopes specially adapted for specific applications
    • G02B21/0012—Surgical microscopes
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/0093—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B30/00—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images
    • G02B30/20—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes
    • G02B30/34—Stereoscopes providing a stereoscopic pair of separated images corresponding to parallactically displaced views of the same object, e.g. 3D slide viewers
    • G02B30/35—Stereoscopes providing a stereoscopic pair of separated images corresponding to parallactically displaced views of the same object, e.g. 3D slide viewers using reflective optical elements in the optical path between the images and the observer
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/366—Image reproducers using viewer tracking
    • H04N13/383—Image reproducers using viewer tracking for tracking with gaze detection, i.e. detecting the lines of sight of the viewer's eyes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00212—Electrical control of surgical instruments using remote controls
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/744—Mouse
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/0132—Head-up displays characterised by optical features comprising binocular systems
    • G02B2027/0134—Head-up displays characterised by optical features comprising binocular systems of stereoscopic type
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0187—Display position adjusting means not related to the information to be displayed slaved to motion of at least a part of the body of the user, e.g. head, eye
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/18—Arrangements with more than one light path, e.g. for comparing two specimens
    • G02B21/20—Binocular arrangements
    • G02B21/22—Stereoscopic arrangements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B30/00—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images
    • G02B30/20—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes
    • G02B30/34—Stereoscopes providing a stereoscopic pair of separated images corresponding to parallactically displaced views of the same object, e.g. 3D slide viewers

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Robotics (AREA)
  • Biophysics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Human Computer Interaction (AREA)
  • Pathology (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Endoscopes (AREA)
  • Eye Examination Apparatus (AREA)
  • User Interface Of Digital Computer (AREA)
  • Microscoopes, Condenser (AREA)
  • Position Input By Displaying (AREA)
KR1020227005163A 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법 Active KR102512876B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020237009137A KR102709112B1 (ko) 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461955334P 2014-03-19 2014-03-19
PCT/US2015/021315 WO2015143073A1 (en) 2014-03-19 2015-03-18 Medical devices, systems, and methods integrating eye gaze tracking for stereo viewer
KR1020167028656A KR102365889B1 (ko) 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020167028656A Division KR102365889B1 (ko) 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020237009137A Division KR102709112B1 (ko) 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법

Publications (2)

Publication Number Publication Date
KR20220028139A KR20220028139A (ko) 2022-03-08
KR102512876B1 true KR102512876B1 (ko) 2023-03-24

Family

ID=54145284

Family Applications (3)

Application Number Title Priority Date Filing Date
KR1020167028656A Active KR102365889B1 (ko) 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법
KR1020227005163A Active KR102512876B1 (ko) 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법
KR1020237009137A Active KR102709112B1 (ko) 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법

Family Applications Before (1)

Application Number Title Priority Date Filing Date
KR1020167028656A Active KR102365889B1 (ko) 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법

Family Applications After (1)

Application Number Title Priority Date Filing Date
KR1020237009137A Active KR102709112B1 (ko) 2014-03-19 2015-04-30 입체 뷰어를 위한 눈 시선 추적을 통합하는 의료 디바이스, 시스템, 및 방법

Country Status (6)

Country Link
US (4) US10432922B2 (enExample)
EP (1) EP3119343A4 (enExample)
JP (4) JP6689203B2 (enExample)
KR (3) KR102365889B1 (enExample)
CN (2) CN106659541B (enExample)
WO (1) WO2015143073A1 (enExample)

Families Citing this family (111)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8556807B2 (en) * 2006-12-21 2013-10-15 Intuitive Surgical Operations, Inc. Hermetically sealed distal sensor endoscope
US8814779B2 (en) 2006-12-21 2014-08-26 Intuitive Surgical Operations, Inc. Stereoscopic endoscope
US8885882B1 (en) * 2011-07-14 2014-11-11 The Research Foundation For The State University Of New York Real time eye tracking for human computer interaction
EP3079608B8 (en) 2013-12-11 2020-04-01 Covidien LP Wrist and jaw assemblies for robotic surgical systems
WO2015143073A1 (en) * 2014-03-19 2015-09-24 Intuitive Surgical Operations, Inc. Medical devices, systems, and methods integrating eye gaze tracking for stereo viewer
CN106456148B (zh) 2014-03-19 2020-06-12 直观外科手术操作公司 使用眼球凝视跟踪的医疗装置、系统和方法
US10179407B2 (en) * 2014-11-16 2019-01-15 Robologics Ltd. Dynamic multi-sensor and multi-robot interface system
KR102333267B1 (ko) * 2014-12-10 2021-12-01 삼성전자주식회사 눈 위치 예측 장치 및 방법
US10695142B2 (en) 2015-02-19 2020-06-30 Covidien Lp Repositioning method of input device for robotic surgical system
CN113040921A (zh) 2015-03-10 2021-06-29 柯惠Lp公司 测量机器人手术系统的连接器部件的健康状况
WO2016191709A1 (en) * 2015-05-28 2016-12-01 Thalmic Labs Inc. Systems, devices, and methods that integrate eye tracking and scanning laser projection in wearable heads-up displays
AU2016284040B2 (en) 2015-06-23 2020-04-30 Covidien Lp Robotic surgical assemblies
AU2016326371B2 (en) 2015-09-25 2020-07-23 Covidien Lp Robotic surgical assemblies and instrument drive connectors thereof
WO2017087439A1 (en) 2015-11-19 2017-05-26 Covidien Lp Optical force sensor for robotic surgical system
CA2995746C (en) 2015-11-25 2020-06-30 Google Llc Prism-based eye tracking
JP6673684B2 (ja) 2015-12-11 2020-03-25 株式会社メディカロイド 遠隔操作装置及び遠隔手術システム
KR102463172B1 (ko) * 2016-01-08 2022-11-04 삼성전자주식회사 동공 거리 결정 방법 및 장치
JP2019509103A (ja) 2016-03-04 2019-04-04 コヴィディエン リミテッド パートナーシップ ロボット外科システムのための逆運動学制御システム
WO2017173524A1 (en) 2016-04-07 2017-10-12 Titan Medical Inc. Camera positioning method and apparatus for capturing images during a medical procedure
WO2017210497A1 (en) 2016-06-03 2017-12-07 Covidien Lp Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator
CN113180835A (zh) 2016-06-03 2021-07-30 柯惠Lp公司 用于机器人手术系统的控制臂
CN107536598A (zh) * 2016-06-29 2018-01-05 沈阳新松机器人自动化股份有限公司 双目视觉瞳孔定位方法及相关设备
KR102548199B1 (ko) * 2016-08-03 2023-06-28 삼성전자주식회사 전자 장치 및 전자 장치의 시선 추적 방법
US20200125167A1 (en) * 2016-12-30 2020-04-23 Tobii Ab Eye/Gaze Tracking System and Method
AU2018221456A1 (en) 2017-02-15 2019-07-11 Covidien Lp System and apparatus for crush prevention for medical robot applications
US11559365B2 (en) * 2017-03-06 2023-01-24 Intuitive Surgical Operations, Inc. Systems and methods for entering and exiting a teleoperational state
US11717361B2 (en) 2017-05-24 2023-08-08 Covidien Lp Electrosurgical robotic system having tool presence detection
US11839441B2 (en) 2017-05-25 2023-12-12 Covidien Lp Robotic surgical system with automated guidance
EP3668433B1 (en) 2017-08-16 2022-11-23 Covidien LP End effector including wrist assembly and monopolar tool for robotic surgical systems
US20200169724A1 (en) * 2017-08-16 2020-05-28 NutriCern, Inc. Optimizing perception of stereoscopic visual content
WO2019050829A1 (en) 2017-09-05 2019-03-14 Covidien Lp COLLISION MANAGEMENT ALGORITHMS FOR ROBOTIC SURGICAL SYSTEMS
WO2019049997A1 (ja) * 2017-09-10 2019-03-14 カイロス株式会社 内視鏡システム
DE102017217193B4 (de) 2017-09-27 2019-07-25 Audi Ag Anzeigevorrichtung, insbesondere für ein Fahrzeug, sowie Fahrzeug mit einer solchen Anzeigevorrichtung
CN107705164A (zh) * 2017-11-14 2018-02-16 宜宾维特瑞安科技有限公司 一种基于眼球追踪技术的市场调查装置、系统及方法
US11690677B2 (en) * 2017-12-31 2023-07-04 Asensus Surgical Us, Inc. Use of eye tracking for tool identification and assignment in a robotic surgical system
CN111556735A (zh) 2018-01-04 2020-08-18 柯惠Lp公司 将手术配件安装至机器人手术系统并且提供穿过其的通路的系统和组件
EP3737326B1 (en) 2018-01-10 2024-10-16 Covidien LP Determining positions and conditions of tools of a robotic surgical system utilizing computer vision
US12102403B2 (en) 2018-02-02 2024-10-01 Coviden Lp Robotic surgical systems with user engagement monitoring
EP3750381A4 (en) 2018-02-09 2021-04-21 Gentex Corporation SYSTEMS AND PROCEDURES FOR DETECTION AND ILLUMINATION OF REGIONS OF INTEREST
EP3750382B1 (en) 2018-02-09 2023-10-18 Gentex Corporation Adaptive lighting array with image-based control
EP3530173A1 (en) * 2018-02-23 2019-08-28 Leica Instruments (Singapore) Pte. Ltd. Medical observation apparatus with a movable beam deflector and method for operating the same
WO2019204013A1 (en) 2018-04-20 2019-10-24 Covidien Lp Systems and methods for surgical robotic cart placement
US11896441B2 (en) * 2018-05-03 2024-02-13 Intuitive Surgical Operations, Inc. Systems and methods for measuring a distance using a stereoscopic endoscope
US10983604B2 (en) 2018-05-16 2021-04-20 Alcon Inc. Foot controlled cursor
US10895757B2 (en) 2018-07-03 2021-01-19 Verb Surgical Inc. Systems and methods for three-dimensional visualization during robotic surgery
US11576739B2 (en) 2018-07-03 2023-02-14 Covidien Lp Systems, methods, and computer-readable media for detecting image degradation during surgical procedures
US10888380B2 (en) * 2018-07-12 2021-01-12 Alcon Inc. Systems and methods for intraocular lens selection
CN110865467B (zh) * 2018-08-17 2022-03-08 安徽省东超科技有限公司 一种基于激光诱导的可交互体三维显示装置及其控制方法
US10866635B2 (en) * 2018-09-13 2020-12-15 Toyota Research Institute, Inc. Systems and methods for capturing training data for a gaze estimation model
US12178528B2 (en) 2018-09-14 2024-12-31 Covidien Lp Surgical robotic systems and methods of tracking usage of surgical instruments thereof
CN112702969A (zh) 2018-09-17 2021-04-23 柯惠Lp公司 手术机器人系统
EP3852667A4 (en) 2018-09-17 2022-06-15 Covidien LP SURGICAL ROBOTIC SYSTEMS
CN113038887B (zh) * 2018-10-12 2024-12-24 索尼集团公司 手术支持系统、数据处理装置、以及方法
US10990168B2 (en) * 2018-12-10 2021-04-27 Samsung Electronics Co., Ltd. Compensating for a movement of a sensor attached to a body of a user
EP3671305A1 (en) * 2018-12-18 2020-06-24 Eberhard Karls Universität Tübingen Exoscope system and use of such an exoscope system
CN109498162B (zh) * 2018-12-20 2023-11-03 深圳市精锋医疗科技股份有限公司 提升沉浸感的主操作台及手术机器人
CN109498164B (zh) * 2018-12-20 2023-11-03 深圳市精锋医疗科技股份有限公司 具有目镜的主操作台及手术机器人
CN111381367A (zh) * 2018-12-27 2020-07-07 宏星技术股份有限公司 眼球追踪器与显示装置
US11478318B2 (en) 2018-12-28 2022-10-25 Verb Surgical Inc. Methods for actively engaging and disengaging teleoperation of a surgical robotic system
CN109634431B (zh) * 2019-01-22 2024-04-26 像航（上海）科技有限公司 无介质浮空投影视觉追踪互动系统
US11576733B2 (en) 2019-02-06 2023-02-14 Covidien Lp Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies
US11337767B2 (en) 2019-05-17 2022-05-24 Verb Surgical Inc. Interlock mechanisms to disengage and engage a teleoperation mode
US11204640B2 (en) 2019-05-17 2021-12-21 Verb Surgical Inc. Methods for determining if teleoperation should be disengaged based on the user's gaze
WO2020236778A1 (en) 2019-05-22 2020-11-26 Covidien Lp Surgical robotic arm storage assemblies and methods of replacing surgical robotic arms using the storage assemblies
CN110215185B (zh) * 2019-06-05 2022-01-11 北京清华长庚医院 眼球突出度测量设备
US11890146B2 (en) 2019-06-20 2024-02-06 Gentex Corporation Illumination system and method for object tracking
KR102879633B1 (ko) 2019-06-20 2025-10-30 젠텍스 코포레이션 자동화된 모듈 조명 및 배치를 위한 시스템 및 방법
US11106279B2 (en) 2019-06-21 2021-08-31 Verb Surgical Inc. Eye tracking calibration for a surgical robotic system
CN114025700B (zh) 2019-06-28 2025-02-25 奥瑞斯健康公司 控制台叠加以及其使用方法
EP3764367A1 (en) * 2019-07-11 2021-01-13 Milestone S.r.l. System and method for medical gross examination
US11850730B2 (en) * 2019-07-17 2023-12-26 Asensus Surgical Us, Inc. Double eye tracker configuration for a robot-assisted surgical system
CN110441901A (zh) * 2019-08-14 2019-11-12 东北大学 一种可实时追踪注视位置的光学显微镜系统及方法
US12223629B2 (en) 2019-09-11 2025-02-11 Covidien Lp Systems and methods for smoke-reduction in images
EP4028985A4 (en) 2019-09-11 2023-06-07 Covidien LP Systems and methods for neural-network based color restoration
CN114269223A (zh) * 2019-09-27 2022-04-01 爱尔康公司 对眼科诊断装置中的测量的患者引发性触发
WO2021074824A1 (en) 2019-10-15 2021-04-22 Gentex Corporation Flat panel light module with dynamic beam
WO2021126545A1 (en) 2019-12-16 2021-06-24 Covidien Lp Surgical robotic systems including surgical instruments with articulation
WO2021133483A1 (en) 2019-12-23 2021-07-01 Covidien Lp System for guiding surgical procedures
US12491028B2 (en) 2020-02-06 2025-12-09 Covidien Lp System and methods for suturing guidance
EP4110221A1 (en) 2020-02-26 2023-01-04 Covidien LP Robotic surgical instrument including linear encoders for measuring cable displacement
JP7414611B2 (ja) * 2020-03-26 2024-01-16 株式会社メディカロイド ロボット手術支援装置、処理方法、及びプログラム
US12262863B2 (en) 2020-05-12 2025-04-01 Covidien Lp Systems and methods for image mapping and fusion during surgical procedures
USD963851S1 (en) 2020-07-10 2022-09-13 Covidien Lp Port apparatus
KR102465800B1 (ko) * 2020-09-23 2022-11-11 (주)엘비전테크 근안 영상 표시 장치에 적용되는 시스루 광학 시스템 및 시스루 광학 시스템에서의 시선 추적 방법
CN112315423B (zh) * 2020-11-06 2023-08-22 上海青研科技有限公司 眼球运动测量设备
US12465446B2 (en) 2020-11-25 2025-11-11 Intuitive Surgical Operations, Inc. Steerable viewer mode activation and de-activation
CN112926523B (zh) * 2021-03-30 2022-07-26 青岛小鸟看看科技有限公司 基于虚拟现实的眼球追踪方法、系统
US12409003B2 (en) 2021-05-14 2025-09-09 Covidien Lp Instrument cassette assemblies for robotic surgical instruments
US11948226B2 (en) 2021-05-28 2024-04-02 Covidien Lp Systems and methods for clinical workspace simulation
US12369998B2 (en) 2021-05-28 2025-07-29 Covidien Lp Real time monitoring of a robotic drive module
CN117396979A (zh) * 2021-06-03 2024-01-12 索尼集团公司 信息处理装置、信息处理系统、信息处理方法和程序
JP7766227B2 (ja) 2021-08-20 2025-11-10 ジェンテックス コーポレイション 照明アセンブリ及び照明アセンブリを有する照射システム
WO2023069636A1 (en) * 2021-10-21 2023-04-27 Intuitive Surgical Operations, Inc. Adjustable headrest for a display unit
US12390294B2 (en) 2021-12-14 2025-08-19 Covidien Lp Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
US12433699B2 (en) 2022-02-10 2025-10-07 Covidien Lp Surgical robotic systems and robotic arm carts thereof
CN115089300B (zh) * 2022-06-14 2025-09-02 上海微创医疗机器人（集团）股份有限公司 基于眼球定位和声音识别的控制方法、手术机器人
US12479098B2 (en) 2022-08-03 2025-11-25 Covidien Lp Surgical robotic system with access port storage
US12465447B2 (en) 2022-08-25 2025-11-11 Covidien Lp Surgical robotic system with instrument detection
CN115645054A (zh) * 2022-09-27 2023-01-31 上海微创医疗机器人（集团）股份有限公司 一种医生端手术控制设备、控制方法及存储介质
USD1066378S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066383S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066380S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066405S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066382S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066381S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066379S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066404S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1087135S1 (en) 2023-08-02 2025-08-05 Covidien Lp Surgeon display screen with a graphical user interface having spent staple icon
USD1087995S1 (en) 2023-08-02 2025-08-12 Covidien Lp Surgeon display screen with a transitional graphical user interface having staple firing icon
WO2025041183A1 (en) * 2023-08-22 2025-02-27 Dal Pont Medical S.r.l.s. Optical device with an augmented reality management system
CN118787307A (zh) * 2024-07-17 2024-10-18 成都集思鸣智科技有限公司 便携式眼动检测仪及其控制方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090248036A1 (en) * 2008-03-28 2009-10-01 Intuitive Surgical, Inc. Controlling a robotic surgical tool with a display monitor
US20130114850A1 (en) * 2011-11-07 2013-05-09 Eye-Com Corporation Systems and methods for high-resolution gaze tracking

Family Cites Families (96)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1043292A (en) 1910-01-17 1912-11-05 Charles W Bowron Voting-machine.
US1027878A (en) 1912-03-22 1912-05-28 Marian Milewski Hasp-lock.
JPS61172552A (ja) * 1985-01-28 1986-08-04 株式会社トプコン 視線方向検出装置
US5204942A (en) 1989-01-10 1993-04-20 Kabushiki Kaisha Kobe Seiko Sho Robot control system for controlling a set of industrial robots for cooperative operation
US5631973A (en) 1994-05-05 1997-05-20 Sri International Method for telemanipulation with telepresence
US5360971A (en) 1992-03-31 1994-11-01 The Research Foundation State University Of New York Apparatus and method for eye tracking interface
US5762458A (en) 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5517021A (en) 1993-01-19 1996-05-14 The Research Foundation State University Of New York Apparatus and method for eye tracking interface
WO1994026167A1 (en) 1993-05-14 1994-11-24 Sri International Remote center positioner
JP3540362B2 (ja) 1994-06-14 2004-07-07 オリンパス株式会社 手術用マニピュレータの制御システム及びその制御方法
JP3482228B2 (ja) 1993-11-02 2003-12-22 オリンパス株式会社 視線検出によるマニピュレータ制御システム
US5876325A (en) 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
WO1996013743A1 (de) * 1994-10-26 1996-05-09 Leica Ag Mikroskop, insbesondere operationsmikroskop
US5553609A (en) 1995-02-09 1996-09-10 Visiting Nurse Service, Inc. Intelligent remote visual monitoring system for home health care service
JP3539645B2 (ja) 1995-02-16 2004-07-07 株式会社日立製作所 遠隔手術支援装置
US5882206A (en) 1995-03-29 1999-03-16 Gillio; Robert G. Virtual surgery system
US6496099B2 (en) 1996-06-24 2002-12-17 Computer Motion, Inc. General purpose distributed operating room control system
US6847336B1 (en) 1996-10-02 2005-01-25 Jerome H. Lemelson Selectively controllable heads-up display system
US6351273B1 (en) 1997-04-30 2002-02-26 Jerome H. Lemelson System and methods for controlling automatic scrolling of information on a display or screen
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6852107B2 (en) 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
US6951535B2 (en) 2002-01-16 2005-10-04 Intuitive Surgical, Inc. Tele-medicine system that transmits an entire state of a subsystem
US6659939B2 (en) 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6398726B1 (en) 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US8527094B2 (en) 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US6799065B1 (en) 1998-12-08 2004-09-28 Intuitive Surgical, Inc. Image shifting apparatus and method for a telerobotic system
US6090051A (en) 1999-03-03 2000-07-18 Marshall; Sandra P. Method and apparatus for eye tracking and monitoring pupil dilation to evaluate cognitive activity
JP3381666B2 (ja) 1999-06-03 2003-03-04 日本電気株式会社 眼疲労警告装置
US6346887B1 (en) 1999-09-14 2002-02-12 The United States Of America As Represented By The Secretary Of The Navy Eye activity monitor
US6603491B2 (en) 2000-05-26 2003-08-05 Jerome H. Lemelson System and methods for controlling automatic scrolling of information on a display or screen
JP3504222B2 (ja) 2000-09-04 2004-03-08 ファナック株式会社 ロボット制御装置
US6578962B1 (en) 2001-04-27 2003-06-17 International Business Machines Corporation Calibration-free eye gaze tracking
US6728599B2 (en) 2001-09-07 2004-04-27 Computer Motion, Inc. Modularity system for computer assisted surgery
AU2003214595A1 (en) 2002-03-07 2003-09-16 Yechezkal Evan Spero Enhanced vision for driving
EP1501406A4 (en) 2002-04-16 2006-08-30 Philip C Noble COMPUTER-BASED TRAINING PROCEDURES FOR SURGICAL PROCEDURES
CA2397431A1 (en) 2002-08-09 2004-02-09 Andrew Lohbihler Method and apparatus for a wireless position sensing interface device employing spread spectrum technology of one or more radio transmitting devices
GB0222265D0 (en) 2002-09-25 2002-10-30 Imp College Innovations Ltd Control of robotic manipulation
US9153074B2 (en) 2011-07-18 2015-10-06 Dylan T X Zhou Wearable augmented reality eyeglass communication device including mobile phone and mobile computing via virtual touch screen gesture control and neuron command
US8292433B2 (en) 2003-03-21 2012-10-23 Queen's University At Kingston Method and apparatus for communication between humans and devices
JP2004309930A (ja) * 2003-04-09 2004-11-04 Olympus Corp 立体観察システム
EP1744670A2 (en) 2004-03-22 2007-01-24 Vanderbilt University System and methods for surgical instrument disablement via image-guided position feedback
US20110077548A1 (en) 2004-04-01 2011-03-31 Torch William C Biosensors, communicators, and controllers monitoring eye movement and methods for using them
US7245202B2 (en) 2004-09-10 2007-07-17 Immersion Corporation Systems and methods for networked haptic devices
US7331929B2 (en) 2004-10-01 2008-02-19 General Electric Company Method and apparatus for surgical operating room information display gaze detection and user prioritization for control
US7501995B2 (en) 2004-11-24 2009-03-10 General Electric Company System and method for presentation of enterprise, clinical, and decision support information utilizing eye tracking navigation
JP2008529707A (ja) 2005-02-18 2008-08-07 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 医療機器の自動制御
US20060210111A1 (en) * 2005-03-16 2006-09-21 Dixon Cleveland Systems and methods for eye-operated three-dimensional object location
US20110020779A1 (en) 2005-04-25 2011-01-27 University Of Washington Skill evaluation using spherical motion mechanism
US10555775B2 (en) 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
US8398541B2 (en) 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
US9718190B2 (en) * 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
WO2008107832A1 (en) 2007-03-07 2008-09-12 Koninklijke Philips Electronics N.V. Stress estimation
GB0709405D0 (en) 2007-05-16 2007-06-27 Univ Edinburgh Testing vision
JP4943972B2 (ja) 2007-08-27 2012-05-30 昭和電工株式会社 記憶媒体、及び記憶装置
US8810631B2 (en) 2008-04-26 2014-08-19 Intuitive Surgical Operations, Inc. Augmented stereoscopic visualization for a surgical robot using a captured visible image combined with a fluorescence image and a captured visible image
EP3884844A1 (en) * 2008-07-18 2021-09-29 Doheny Eye Institute Optical coherence tomography-based ophthalmic testing methods, devices and systems
WO2010018907A1 (ko) 2008-08-14 2010-02-18 (주)미래컴퍼니 서버 클라이언트 방식의 수술용 로봇 시스템
WO2010051037A1 (en) 2008-11-03 2010-05-06 Bruce Reiner Visually directed human-computer interaction for medical applications
JP2010152443A (ja) * 2008-12-24 2010-07-08 Brother Ind Ltd ヘッドマウントディスプレイ
US20100167248A1 (en) 2008-12-31 2010-07-01 Haptica Ltd. Tracking and training system for medical procedures
DE102009010263B4 (de) 2009-02-24 2011-01-20 Reiner Kunz Verfahren zur Navigation eines endoskopischen Instruments bei der technischen Endoskopie und zugehörige Vorrichtung
EP2309307B1 (en) 2009-10-08 2020-12-09 Tobii Technology AB Eye tracking using a GPU
US9039419B2 (en) 2009-11-06 2015-05-26 International Business Machines Corporation Method and system for controlling skill acquisition interfaces
US8521331B2 (en) 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
US8935003B2 (en) * 2010-09-21 2015-01-13 Intuitive Surgical Operations Method and system for hand presence detection in a minimally invasive surgical system
US8964298B2 (en) 2010-02-28 2015-02-24 Microsoft Corporation Video display modification based on sensor input for a see-through near-to-eye display
US20110228051A1 (en) 2010-03-17 2011-09-22 Goksel Dedeoglu Stereoscopic Viewing Comfort Through Gaze Estimation
IT1401669B1 (it) * 2010-04-07 2013-08-02 Sofar Spa Sistema di chirurgia robotizzata con controllo perfezionato.
DE102010038800B4 (de) 2010-08-02 2024-03-07 Kuka Deutschland Gmbh Medizinischer Arbeitsplatz
US8408706B2 (en) 2010-12-13 2013-04-02 Microsoft Corporation 3D gaze tracker
JP2012128523A (ja) 2010-12-13 2012-07-05 Canon Inc 情報処理装置およびその動作方法
JP2014506695A (ja) 2011-01-30 2014-03-17 ミレイ，ラム スリカンス 技術評価
EP3527121B1 (en) * 2011-02-09 2023-08-23 Apple Inc. Gesture detection in a 3d mapping environment
JP5475893B2 (ja) 2011-05-20 2014-04-16 パナソニック株式会社 視覚疲労度測定装置およびその方法
US9380978B2 (en) 2011-06-29 2016-07-05 Bruce Reiner Method and apparatus for real-time measurement and analysis of occupational stress and fatigue and performance outcome predictions
US9345957B2 (en) 2011-09-30 2016-05-24 Microsoft Technology Licensing, Llc Enhancing a sport using an augmented reality display
US20130083003A1 (en) 2011-09-30 2013-04-04 Kathryn Stone Perez Personal audio/visual system
EP2774380B1 (en) * 2011-11-02 2019-05-22 Intuitive Surgical Operations, Inc. Method and system for stereo gaze tracking
WO2013103937A1 (en) 2012-01-06 2013-07-11 Dickey-John Fault-tolerant sensing and monitoring communications bus system for agricultural applications
IL219907A (en) 2012-05-21 2017-08-31 Lumus Ltd Integrated head display system with eye tracking
JP5923603B2 (ja) 2012-05-30 2016-05-24 パイオニア株式会社 表示装置、ヘッドマウントディスプレイ、校正方法及び校正プログラム、並びに記録媒体
US9077973B2 (en) * 2012-06-29 2015-07-07 Dri Systems Llc Wide field-of-view stereo vision platform with dynamic control of immersive or heads-up display operation
US20140024889A1 (en) 2012-07-17 2014-01-23 Wilkes University Gaze Contingent Control System for a Robotic Laparoscope Holder
IL221863A (en) * 2012-09-10 2014-01-30 Elbit Systems Ltd Digital video photography system when analyzing and displaying
US9259282B2 (en) 2012-12-10 2016-02-16 Intuitive Surgical Operations, Inc. Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
US20140160004A1 (en) 2012-12-11 2014-06-12 Biosense Webster (Israel), Ltd. Use of physician eye tracking during a procedure
US9101297B2 (en) 2012-12-11 2015-08-11 Elwha Llc Time-based unobtrusive active eye interrogation
DE102012025102A1 (de) 2012-12-20 2014-06-26 avateramedical GmBH Endoskop mit einem Mehrkamerasystem für die minimal-invasive Chirurgie
KR20140112207A (ko) 2013-03-13 2014-09-23 삼성전자주식회사 증강현실 영상 표시 시스템 및 이를 포함하는 수술 로봇 시스템
KR20140139840A (ko) 2013-05-28 2014-12-08 삼성전자주식회사 디스플레이 장치 및 그 제어방법
US10474793B2 (en) 2013-06-13 2019-11-12 Northeastern University Systems, apparatus and methods for delivery and augmentation of behavior modification therapy and teaching
US9625723B2 (en) * 2013-06-25 2017-04-18 Microsoft Technology Licensing, Llc Eye-tracking system using a freeform prism
WO2015023513A1 (en) 2013-08-14 2015-02-19 Intuitive Surgical Operations, Inc. Endoscope control system
WO2015143073A1 (en) 2014-03-19 2015-09-24 Intuitive Surgical Operations, Inc. Medical devices, systems, and methods integrating eye gaze tracking for stereo viewer
CN106456148B (zh) 2014-03-19 2020-06-12 直观外科手术操作公司 使用眼球凝视跟踪的医疗装置、系统和方法
US10722114B1 (en) 2017-06-28 2020-07-28 Bertec Corporation System and method for vision testing and/or training

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090248036A1 (en) * 2008-03-28 2009-10-01 Intuitive Surgical, Inc. Controlling a robotic surgical tool with a display monitor
US20130114850A1 (en) * 2011-11-07 2013-05-09 Eye-Com Corporation Systems and methods for high-resolution gaze tracking

Also Published As

Publication number Publication date
US20210235068A1 (en) 2021-07-29
US10432922B2 (en) 2019-10-01
US20220417492A1 (en) 2022-12-29
CN110200702A (zh) 2019-09-06
CN106659541B (zh) 2019-08-16
US11792386B2 (en) 2023-10-17
WO2015143073A1 (en) 2015-09-24
US11438572B2 (en) 2022-09-06
JP6689203B2 (ja) 2020-04-28
KR20170136413A (ko) 2017-12-11
KR102365889B1 (ko) 2022-02-23
JP7080915B2 (ja) 2022-06-06
KR20230042149A (ko) 2023-03-27
US20200045301A1 (en) 2020-02-06
EP3119343A4 (en) 2017-12-20
US10965933B2 (en) 2021-03-30
CN110200702B (zh) 2022-05-03
JP2020103907A (ja) 2020-07-09
JP2022116156A (ja) 2022-08-09
WO2015143073A4 (en) 2015-12-10
JP2017516508A (ja) 2017-06-22
JP2024061720A (ja) 2024-05-08
KR20220028139A (ko) 2022-03-08
CN106659541A (zh) 2017-05-10
US20170180720A1 (en) 2017-06-22
CN110200702B9 (zh) 2022-05-31
KR102709112B1 (ko) 2024-09-25
EP3119343A1 (en) 2017-01-25

Similar Documents

Publication Publication Date Title
US11792386B2 (en) Medical devices, systems, and methods using eye gaze tracking for stereo viewer
US12364555B2 (en) Medical devices, systems, and methods using eye gaze tracking

Legal Events

Date Code Title Description
A107 Divisional application of patent
PA0104 Divisional application for international application

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

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

PA0201 Request for examination

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

PG1501 Laying open of application

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

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

St.27 status event code: A-1-2-D10-D21-exm-PE0902

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

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

PA0104 Divisional application for international application

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

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

PR0701 Registration of establishment

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

PR1002 Payment of registration fee

Fee payment year number: 1

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

PG1601 Publication of registration

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

P22-X000 Classification modified

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