KR20050099522A - 의료 장치 유도 시스템 - Google Patents
의료 장치 유도 시스템 Download PDFInfo
- Publication number
- KR20050099522A KR20050099522A KR1020057014295A KR20057014295A KR20050099522A KR 20050099522 A KR20050099522 A KR 20050099522A KR 1020057014295 A KR1020057014295 A KR 1020057014295A KR 20057014295 A KR20057014295 A KR 20057014295A KR 20050099522 A KR20050099522 A KR 20050099522A
- Authority
- KR
- South Korea
- Prior art keywords
- magnetic field
- medical device
- main body
- force generating
- unit
- 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.)
- Ceased
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- 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
- A61B34/73—Manipulators for magnetic surgery
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Endoscopes (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003027476 | 2003-02-04 | ||
| JPJP-P-2003-00027476 | 2003-02-04 | ||
| JPJP-P-2004-00017606 | 2004-01-26 | ||
| JP2004017606A JP4091004B2 (ja) | 2003-02-04 | 2004-01-26 | 医療装置誘導システム |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020077015690A Division KR100829329B1 (ko) | 2003-02-04 | 2004-02-04 | 의료 장치 유도 시스템 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| KR20050099522A true KR20050099522A (ko) | 2005-10-13 |
Family
ID=32852660
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020057014295A Ceased KR20050099522A (ko) | 2003-02-04 | 2004-02-04 | 의료 장치 유도 시스템 |
| KR1020077015690A Expired - Fee Related KR100829329B1 (ko) | 2003-02-04 | 2004-02-04 | 의료 장치 유도 시스템 |
| KR1020077020902A Expired - Fee Related KR100870327B1 (ko) | 2003-02-04 | 2004-02-04 | 의료 장치 유도 시스템 |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020077015690A Expired - Fee Related KR100829329B1 (ko) | 2003-02-04 | 2004-02-04 | 의료 장치 유도 시스템 |
| KR1020077020902A Expired - Fee Related KR100870327B1 (ko) | 2003-02-04 | 2004-02-04 | 의료 장치 유도 시스템 |
Country Status (6)
| Country | Link |
|---|---|
| US (3) | US20040236180A1 (enExample) |
| EP (1) | EP1591058B1 (enExample) |
| JP (1) | JP4091004B2 (enExample) |
| KR (3) | KR20050099522A (enExample) |
| CN (1) | CN102783933B (enExample) |
| WO (1) | WO2004069043A1 (enExample) |
Families Citing this family (92)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6379334B1 (en) | 1997-02-10 | 2002-04-30 | Essex Technology, Inc. | Rotate advance catheterization system |
| AU7720100A (en) | 1999-09-27 | 2001-04-30 | Essex Technology, Inc. | Rotate-to-advance catheterization system |
| JP2005192632A (ja) * | 2003-12-26 | 2005-07-21 | Olympus Corp | 被検体内移動状態検出システム |
| US7751866B2 (en) * | 2004-03-08 | 2010-07-06 | Olympus Corporation | Detecting system of position and posture of capsule medical device |
| US8321173B2 (en) * | 2004-08-25 | 2012-11-27 | Wallance Daniel I | System and method for using magnetic sensors to track the position of an object |
| JP4891535B2 (ja) * | 2004-09-21 | 2012-03-07 | オリンパス株式会社 | 医療装置誘導システム |
| EP1824374A1 (en) | 2004-11-26 | 2007-08-29 | Olympus Corporation | Medical system |
| JP4699013B2 (ja) * | 2004-11-26 | 2011-06-08 | オリンパス株式会社 | カプセル型医療装置本体及びカプセル型医療システム |
| JP4727975B2 (ja) * | 2004-11-29 | 2011-07-20 | オリンパス株式会社 | 医療システム |
| EP1861133B1 (en) | 2005-02-28 | 2012-11-21 | Spirus Medical Inc. | Rotate-to-advance catheterization system |
| JP2006263167A (ja) * | 2005-03-24 | 2006-10-05 | Olympus Corp | 医療装置制御システム |
| US7780650B2 (en) | 2005-05-04 | 2010-08-24 | Spirus Medical, Inc. | Rotate-to-advance catheterization system |
| US8235942B2 (en) | 2005-05-04 | 2012-08-07 | Olympus Endo Technology America Inc. | Rotate-to-advance catheterization system |
| US8317678B2 (en) | 2005-05-04 | 2012-11-27 | Olympus Endo Technology America Inc. | Rotate-to-advance catheterization system |
| US8343040B2 (en) | 2005-05-04 | 2013-01-01 | Olympus Endo Technology America Inc. | Rotate-to-advance catheterization system |
| US8414477B2 (en) | 2005-05-04 | 2013-04-09 | Olympus Endo Technology America Inc. | Rotate-to-advance catheterization system |
| DE102005032577B4 (de) * | 2005-07-11 | 2012-09-20 | Siemens Ag | Verfahren zur Positionsbestimmung eines Endoroboters |
| CN101282677B (zh) | 2005-10-05 | 2010-07-28 | 奥林巴斯医疗株式会社 | 胶囊式医疗装置、其引导系统和引导方法、及被检体内插入装置 |
| DE602006021611D1 (de) | 2005-12-02 | 2011-06-09 | Olympus Corp | System zum nachweis der position eines medizinprodukts, führungssystem für ein medizinprodukt und verfahren zum nachweis der position eines medizinprodukts |
| EP1967127A4 (en) | 2005-12-27 | 2013-01-23 | Olympus Medical Systems Corp | STORAGE DEVICE FOR A MEDICAL DEVICE, DISPOSAL DEVICE AND METHOD FOR USE OF A MEDICAL DEVICE |
| JP5042037B2 (ja) | 2005-12-27 | 2012-10-03 | オリンパスメディカルシステムズ株式会社 | カプセル型医療装置誘導システム |
| JP4827525B2 (ja) * | 2005-12-27 | 2011-11-30 | オリンパスメディカルシステムズ株式会社 | カプセル型医療装置誘導システム |
| CN101351147B (zh) | 2005-12-28 | 2010-12-15 | 奥林巴斯医疗株式会社 | 被检体内导入系统以及被检体内导入装置的引导方法 |
| US8435229B2 (en) | 2006-02-28 | 2013-05-07 | Olympus Endo Technology America Inc. | Rotate-to-advance catheterization system |
| US8574220B2 (en) | 2006-02-28 | 2013-11-05 | Olympus Endo Technology America Inc. | Rotate-to-advance catheterization system |
| DE102006014040B4 (de) * | 2006-03-27 | 2012-04-05 | Siemens Ag | Verfahren und Einrichtung zur drahtlosen Fernsteuerung der Kapselfunktionen einer Arbeitskapsel eines Magnetspulensystems |
| DE102006014044B4 (de) * | 2006-03-27 | 2012-04-05 | Siemens Ag | Verfahren und Einrichtung zur drahtlosen Fernsteuerung der Kapselfunktionen einer eine HF-Sendespule aufweisenden Arbeitskapsel |
| JP4914634B2 (ja) * | 2006-04-19 | 2012-04-11 | オリンパスメディカルシステムズ株式会社 | カプセル型医療装置 |
| EP2016897A4 (en) * | 2006-04-21 | 2015-09-09 | Olympus Medical Systems Corp | MEDICAL PRODUCT GUIDANCE SYSTEM AND METHOD FOR CORRECTING ITS POSITION |
| JP4898807B2 (ja) | 2006-07-05 | 2012-03-21 | オリンパス株式会社 | 医療装置誘導システム |
| WO2008010039A2 (en) * | 2006-07-12 | 2008-01-24 | Les Hôpitaux Universitaires De Geneve | Medical device for tissue ablation |
| JP2008040353A (ja) | 2006-08-09 | 2008-02-21 | Seiko Epson Corp | 光学デバイス、光スキャナおよび画像形成装置 |
| JP5084200B2 (ja) | 2006-08-29 | 2012-11-28 | オリンパスメディカルシステムズ株式会社 | カプセル誘導システム |
| AU2006347875B2 (en) | 2006-09-06 | 2010-10-28 | Olympus Corporation | Medical device control system |
| DE102006060421B4 (de) * | 2006-12-20 | 2016-12-22 | Siemens Healthcare Gmbh | Medizinisches System zur bildgestützten Diagnose oder Therapie des Körpers eines Patienten sowie von dem System durchgeführtes Verfahren |
| ES2303466B1 (es) * | 2007-01-19 | 2009-07-20 | Pedro Guillen Garcia | Artro-endoscopia sin cables. |
| US20100036394A1 (en) * | 2007-01-31 | 2010-02-11 | Yoav Mintz | Magnetic Levitation Based Devices, Systems and Techniques for Probing and Operating in Confined Space, Including Performing Medical Diagnosis and Surgical Procedures |
| JP5226538B2 (ja) | 2007-02-14 | 2013-07-03 | オリンパスメディカルシステムズ株式会社 | 操作装置、モニタ装置、およびカプセル誘導システム |
| US8870755B2 (en) | 2007-05-18 | 2014-10-28 | Olympus Endo Technology America Inc. | Rotate-to-advance catheterization system |
| JP5269348B2 (ja) * | 2007-05-21 | 2013-08-21 | オリンパス株式会社 | 位置検出システム及び位置検出システムの作動方法 |
| TWI342199B (en) * | 2007-07-06 | 2011-05-21 | Univ Nat Taiwan | Endoscope and magnetic field control method thereof |
| JP5276814B2 (ja) * | 2007-08-28 | 2013-08-28 | オリンパス株式会社 | カプセル型医療装置 |
| JP4908356B2 (ja) * | 2007-09-11 | 2012-04-04 | オリンパスメディカルシステムズ株式会社 | カプセル誘導システム |
| JP2009072367A (ja) * | 2007-09-20 | 2009-04-09 | Olympus Medical Systems Corp | 医療装置 |
| US8303573B2 (en) | 2007-10-17 | 2012-11-06 | The Invention Science Fund I, Llc | Medical or veterinary digestive tract utilization systems and methods |
| US20090105561A1 (en) * | 2007-10-17 | 2009-04-23 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Medical or veterinary digestive tract utilization systems and methods |
| US8789536B2 (en) | 2007-10-17 | 2014-07-29 | The Invention Science Fund I, Llc | Medical or veterinary digestive tract utilization systems and methods |
| US8707964B2 (en) | 2007-10-31 | 2014-04-29 | The Invention Science Fund I, Llc | Medical or veterinary digestive tract utilization systems and methods |
| US8808276B2 (en) | 2007-10-23 | 2014-08-19 | The Invention Science Fund I, Llc | Adaptive dispensation in a digestive tract |
| US8333754B2 (en) * | 2007-10-31 | 2012-12-18 | The Invention Science Fund I, Llc | Medical or veterinary digestive tract utilization systems and methods |
| US20090163894A1 (en) * | 2007-10-31 | 2009-06-25 | Searete Llc, A Limited Liability Corporation Of The State Of Delaware | Medical or veterinary digestive tract utilization systems and methods |
| US8109920B2 (en) * | 2007-10-31 | 2012-02-07 | The Invention Science Fund I, Llc | Medical or veterinary digestive tract utilization systems and methods |
| US8808271B2 (en) | 2007-10-31 | 2014-08-19 | The Invention Science Fund I, Llc | Medical or veterinary digestive tract utilization systems and methods |
| AU2008329676B2 (en) | 2007-11-26 | 2015-03-05 | Attractive Surgical, Llc | Magnaretractor system and method |
| US20090137866A1 (en) * | 2007-11-28 | 2009-05-28 | Searete Llc, A Limited Liability Corporation Of The State Delaware | Medical or veterinary digestive tract utilization systems and methods |
| DE102008009973A1 (de) | 2008-02-20 | 2009-08-27 | Olympus Medical Systems Corp. | Verfahren zum Führen eines medizinischen Gerätes |
| JP4824048B2 (ja) * | 2008-02-21 | 2011-11-24 | オリンパス株式会社 | 医療装置制御システム |
| JP4763732B2 (ja) * | 2008-02-21 | 2011-08-31 | オリンパス株式会社 | 医療装置制御システム |
| JP5135007B2 (ja) * | 2008-03-10 | 2013-01-30 | オリンパスメディカルシステムズ株式会社 | カプセル誘導システム |
| EP2392249B1 (en) | 2008-06-19 | 2013-12-04 | Olympus Medical Systems Corp. | Magnetically guiding system and magnetically guiding method |
| JP5415717B2 (ja) * | 2008-06-19 | 2014-02-12 | オリンパスメディカルシステムズ株式会社 | 検査装置およびこれを用いた磁気誘導システム |
| US8261751B2 (en) * | 2008-07-08 | 2012-09-11 | Olympus Medical Systems Corp. | Guiding system, position controlling apparatus, and guiding method |
| JP5096268B2 (ja) | 2008-09-02 | 2012-12-12 | オリンパスメディカルシステムズ株式会社 | カプセル誘導システム |
| JP4902620B2 (ja) * | 2008-10-21 | 2012-03-21 | オリンパスメディカルシステムズ株式会社 | カプセル誘導システム |
| EP2340757A4 (en) | 2009-01-28 | 2012-08-01 | Olympus Medical Systems Corp | SYSTEM FOR CAPSUED MEDICAL EQUIPMENT |
| DE102009013354B4 (de) * | 2009-03-16 | 2011-02-17 | Siemens Aktiengesellschaft | Spulensystem, medizinische Vorrichtung sowie Verfahren zur berührungslosen magnetischen Navigation eines magnetischen Körpers in einem Arbeitsraum |
| KR101040454B1 (ko) * | 2009-08-10 | 2011-06-09 | 성균관대학교산학협력단 | 응급처치를 위한 마이크로 로봇 |
| US20120203168A1 (en) * | 2009-10-14 | 2012-08-09 | Hideo Fujimoto | Insertion device, training device, and recording system |
| US20110215888A1 (en) * | 2009-11-12 | 2011-09-08 | University Of Utah | Wireless control of microrobots |
| JP5118775B2 (ja) * | 2009-11-19 | 2013-01-16 | オリンパスメディカルシステムズ株式会社 | カプセル型医療装置用誘導システム |
| WO2011072060A2 (en) | 2009-12-08 | 2011-06-16 | Magnetecs Corporation | Diagnostic and therapeutic magnetic propulsion capsule and method for using the same |
| US9179827B2 (en) * | 2009-12-15 | 2015-11-10 | Boston Scientific Scimed, Inc. | Systems and methods for determining the position and orientation of medical devices inserted into a patient |
| CN102665530B (zh) * | 2010-03-26 | 2014-11-26 | 奥林巴斯医疗株式会社 | 胶囊型医疗装置用引导系统以及胶囊型医疗装置的引导方法 |
| US8308632B2 (en) * | 2010-06-15 | 2012-11-13 | Siemens Aktiengesellschaft | Method and apparatus for displaying information in magnetically guided capsule endoscopy |
| DE102010043481B4 (de) * | 2010-11-05 | 2019-10-24 | Siemens Healthcare Gmbh | Medizinsystem |
| US20130303878A1 (en) * | 2011-01-20 | 2013-11-14 | Enav Medical Ltd. | System and method to estimate location and orientation of an object |
| US9445711B2 (en) | 2012-05-09 | 2016-09-20 | Carnegie Mellon University | System and method to magnetically actuate a capsule endoscopic robot for diagnosis and treatment |
| CN104203068A (zh) * | 2012-05-14 | 2014-12-10 | 奥林巴斯医疗株式会社 | 胶囊型医疗装置以及医疗系统 |
| US8764769B1 (en) | 2013-03-12 | 2014-07-01 | Levita Magnetics International Corp. | Grasper with magnetically-controlled positioning |
| US20150066437A1 (en) * | 2013-08-30 | 2015-03-05 | Siemens Aktiengesellschaft | Graphic product generator |
| EP3096673B1 (en) | 2014-01-21 | 2025-02-19 | Levita Magnetics International Corp. | Laparoscopic graspers and systems therefor |
| JP5970137B2 (ja) | 2014-08-08 | 2016-08-17 | オリンパス株式会社 | カプセル型医療装置誘導システム |
| CN104434008B (zh) * | 2014-12-12 | 2016-09-21 | 北京大学第三医院 | 内窥镜机器人 |
| JP6022134B1 (ja) * | 2015-02-18 | 2016-11-09 | オリンパス株式会社 | 位置検出システム及びカプセル型医療装置誘導システム |
| EP3282954B1 (en) | 2015-04-13 | 2021-07-28 | Levita Magnetics International Corp. | Grasper with magnetically-controlled positioning |
| ES2897754T3 (es) | 2015-04-13 | 2022-03-02 | Levita Magnetics Int Corp | Dispositivos retractores |
| CN107105981B (zh) | 2015-04-17 | 2019-04-02 | 奥林巴斯株式会社 | 胶囊型医疗装置引导系统 |
| WO2017120540A1 (en) * | 2016-01-08 | 2017-07-13 | Levita Magnetics International Corp. | One-operator surgical system and methods of use |
| CN106667422A (zh) * | 2016-08-04 | 2017-05-17 | 北京千安哲信息技术有限公司 | 胶囊内窥镜及其控制装置、系统和检测方法 |
| US11020137B2 (en) | 2017-03-20 | 2021-06-01 | Levita Magnetics International Corp. | Directable traction systems and methods |
| US11497382B1 (en) * | 2020-04-27 | 2022-11-15 | Canon U.S.A., Inc. | Apparatus and method for endoscopic image orientation control |
| CN115571241B (zh) * | 2022-10-26 | 2025-10-03 | 广州大学 | 一种磁控微型运载机器人 |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5681260A (en) * | 1989-09-22 | 1997-10-28 | Olympus Optical Co., Ltd. | Guiding apparatus for guiding an insertable body within an inspected object |
| JP2959723B2 (ja) | 1990-04-25 | 1999-10-06 | オリンパス光学工業株式会社 | 内視鏡用被検体内挿入装置 |
| US5353807A (en) * | 1992-12-07 | 1994-10-11 | Demarco Thomas J | Magnetically guidable intubation device |
| JPH08322786A (ja) * | 1995-05-30 | 1996-12-10 | Toshiba Medical Eng Co Ltd | 生体内診断治療装置 |
| US5989230A (en) * | 1996-01-11 | 1999-11-23 | Essex Technology, Inc. | Rotate to advance catheterization system |
| EP1115327A4 (en) * | 1998-08-07 | 2007-06-20 | Stereotaxis Inc | METHOD AND DEVICE FOR MAGNETICALLY CONTROLLING CATHETERS IN LIGHTS AND BODY CAVITIES |
| US6233476B1 (en) * | 1999-05-18 | 2001-05-15 | Mediguide Ltd. | Medical positioning system |
| JP3490931B2 (ja) * | 1999-06-07 | 2004-01-26 | ペンタックス株式会社 | 飲み込み型内視鏡装置 |
| JP4499861B2 (ja) * | 1999-12-28 | 2010-07-07 | オリンパスメディカルシステムズ株式会社 | 移動可能なマイクロマシンの移動制御システムおよび医用マイクロマシン誘導システム |
| WO2002055984A2 (en) * | 2001-01-16 | 2002-07-18 | Given Imaging Ltd. | A system and method for determining in vivo body lumen conditions |
| EP1383416A2 (en) * | 2001-04-18 | 2004-01-28 | BBMS Ltd. | Navigating and maneuvering of an in vivo vechicle by extracorporeal devices |
| US6951536B2 (en) * | 2001-07-30 | 2005-10-04 | Olympus Corporation | Capsule-type medical device and medical system |
| JP4744026B2 (ja) * | 2001-07-30 | 2011-08-10 | オリンパス株式会社 | カプセル内視鏡およびカプセル内視鏡システム |
-
2004
- 2004-01-26 JP JP2004017606A patent/JP4091004B2/ja not_active Expired - Fee Related
- 2004-02-04 KR KR1020057014295A patent/KR20050099522A/ko not_active Ceased
- 2004-02-04 WO PCT/JP2004/001105 patent/WO2004069043A1/ja not_active Ceased
- 2004-02-04 CN CN201210298590.1A patent/CN102783933B/zh not_active Expired - Fee Related
- 2004-02-04 KR KR1020077015690A patent/KR100829329B1/ko not_active Expired - Fee Related
- 2004-02-04 KR KR1020077020902A patent/KR100870327B1/ko not_active Expired - Fee Related
- 2004-02-04 EP EP04708041.1A patent/EP1591058B1/en not_active Expired - Lifetime
- 2004-02-04 US US10/771,730 patent/US20040236180A1/en not_active Abandoned
-
2007
- 2007-05-04 US US11/800,215 patent/US20070219405A1/en not_active Abandoned
-
2009
- 2009-10-08 US US12/575,985 patent/US20100030026A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| JP4091004B2 (ja) | 2008-05-28 |
| CN102783933A (zh) | 2012-11-21 |
| US20070219405A1 (en) | 2007-09-20 |
| US20100030026A1 (en) | 2010-02-04 |
| WO2004069043A1 (ja) | 2004-08-19 |
| US20040236180A1 (en) | 2004-11-25 |
| CN102783933B (zh) | 2015-11-18 |
| KR100829329B1 (ko) | 2008-05-13 |
| EP1591058A4 (en) | 2013-01-23 |
| KR20070103488A (ko) | 2007-10-23 |
| JP2004255174A (ja) | 2004-09-16 |
| KR20070086996A (ko) | 2007-08-27 |
| KR100870327B1 (ko) | 2008-11-25 |
| EP1591058B1 (en) | 2014-09-17 |
| EP1591058A1 (en) | 2005-11-02 |
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