WO2011006267A1 - Anchorage arrangement for a connecting rod for the stabilization of the spine - Google Patents
Anchorage arrangement for a connecting rod for the stabilization of the spine Download PDFInfo
- Publication number
- WO2011006267A1 WO2011006267A1 PCT/CH2010/000168 CH2010000168W WO2011006267A1 WO 2011006267 A1 WO2011006267 A1 WO 2011006267A1 CH 2010000168 W CH2010000168 W CH 2010000168W WO 2011006267 A1 WO2011006267 A1 WO 2011006267A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rod
- arrangement according
- opening
- anchorage arrangement
- plane
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7001—Screws or hooks combined with longitudinal elements which do not contact vertebrae
- A61B17/7002—Longitudinal elements, e.g. rods
- A61B17/701—Longitudinal elements with a non-circular, e.g. rectangular, cross-section
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7001—Screws or hooks combined with longitudinal elements which do not contact vertebrae
- A61B17/7002—Longitudinal elements, e.g. rods
- A61B17/7019—Longitudinal elements having flexible parts, or parts connected together, such that after implantation the elements can move relative to each other
- A61B17/7031—Longitudinal elements having flexible parts, or parts connected together, such that after implantation the elements can move relative to each other made wholly or partly of flexible material
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7001—Screws or hooks combined with longitudinal elements which do not contact vertebrae
- A61B17/7032—Screws or hooks with U-shaped head or back through which longitudinal rods pass
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/80—Cortical plates, i.e. bone plates; Instruments for holding or positioning cortical plates, or for compressing bones attached to cortical plates
- A61B17/8033—Cortical plates, i.e. bone plates; Instruments for holding or positioning cortical plates, or for compressing bones attached to cortical plates having indirect contact with screw heads, or having contact with screw heads maintained with the aid of additional components, e.g. nuts, wedges or head covers
- A61B17/8038—Cortical plates, i.e. bone plates; Instruments for holding or positioning cortical plates, or for compressing bones attached to cortical plates having indirect contact with screw heads, or having contact with screw heads maintained with the aid of additional components, e.g. nuts, wedges or head covers the additional component being inserted in the screw head
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/84—Fasteners therefor or fasteners being internal fixation devices
- A61B17/86—Pins or screws or threaded wires; nuts therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/44—Joints for the spine, e.g. vertebrae, spinal discs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L27/00—Materials for grafts or prostheses or for coating grafts or prostheses
- A61L27/14—Macromolecular materials
Definitions
- the present invention relates to an anchorage arrangement for a connecting rod for stabilizing the spine according to the preamble of claim 1.
- pedicle screws are inserted in the spine and their head are interconnected by a rod.
- elastic rods are known as an alternative to rigid metallic rods.
- plastic rods are often manufactured from plastic materials and plastic materials are generally susceptible to creep, plastic rods cannot simply be clamped by a press-fit as this is easily possible with metal rods, for example.
- EP 1 527 742 Bl show positive or form-fit anchorages.
- the rod and its seat in the screw head are provided with geometrically mutually fitting grooves. However, positioning the grooved surfaces requires a precise introduction to avoid canting.
- 1 759 646 Bl shows a frictional anchorage with an indirect form-fit.
- the connecting rod is smooth and is clamped between two members, the screw head and a laterally guided spacer, whose contour nominally deviates from the rod contour in the area of contact. Therefore, this nominal contour deviation locally penetrates into the rod such that high stress intensities result in the clamped areas and relative movements due to shear deformation in the non- clamped areas. Furthermore, rod material may flow off between the clamping areas if they do not form a closed cage . Accordingly, it is an object of the present invention to propose an anchorage arrangement for a connecting rod exerting less stress on the rod while maintaining
- Fig. 1 A round rod between two semicircles (prior art) .
- Fig. 2a An exemplary cross-section having 4 sides.
- Fig. 2b An exemplary cross-section having 5 sides.
- Fig. 2c An exemplary cross-section having 6 sides.
- Fig. 3a A typical cross-section having 5 sides and a taper.
- Fig. 3b The opening between the screw head and the spacer whose contour is congruent with the rod.
- Fig. 4b A spacer with a clamping ridge.
- Fig. 5a The rod opening with two circumferential clamping ridges.
- Fig. 5b A spacer with two clamping ridges.
- Fig. 6 A variant using an internal nut and a separate
- Fig. 7 A variant using an external nut and an integrated spacer .
- Fig. 8 A variant using an internal nut and an integrated spacer.
- a plastic rod 1 is anchored in a pedicle screw 2 such that it can be introduced in a continuous manner without creating stress peaks in the anchoring area due to local clamping as a result of deviating contours and without any alteration of the rod cross-section by flowing of the material. Furthermore, the anchorage is able to transmit both tensile and compressive as well as shearing and torsional forces from the rod to the screw. This is accomplished in that the clamping action is uniform peripherally (cf. Figs. 2a - 2c), i.e. around the entire cross-section, due to the fact that the contour of the rod cross-section nominally exactly coincides with the contour of the screw head opening and of the spacer in the area of contact, i.e. is congruent therewith. More specifically, the encircling clamping action is intended to act as a cage and to produce hydrostatic properties in the clamping plane, which can only be achieved with a cross-section having at least two plane-parallel surfaces.
- the invention relates to the rod cross-section defined in claim 1 with at least two plane-parallel sides, thereby allowing a uniform clamping action on the entire circumference, i.e. peripherally. Due to the uniform
- clamping action maximal care is kept on the rod in the anchorage area, thereby allowing it to transmit the forces arising in the patient to the upper and lower pedicle screws safely and durably.
- the clamping action may be assisted by circumferential ridges in one or multiple planes. The clamping action is achieved either by an
- the plane-parallel sides may most preferably be provided with a taper whose flanks each form an angle 37 of at least 10° with respect to the frontal plane of the rod in order to facilitate its introduction into pedicle screws that do not extend parallelly.
- Fig. 1 illustrates the conflict that arises when a circular rod 30 is clamped between two semicircles 31, 32.
- the semicircles 31, 32 would have to be able to interpenetrate. This would indeed be possible with complex comb-like tapering portions, but the plastic rod 30 would inevitably flow into the comb openings and be distorted.
- Fig. 2a illustrates a cross-section having 4 sides of which at least two 35, 36 are plane- parallel.
- a uniform peripheral fixation can be achieved by a clamping action (arrow 38, clamping device 4) parallel to the plane-parallel lateral surfaces.
- the distance between the sidewalls 39 of the opening 3 is closely fitted to the distance between the lateral faces 35, 36 of the rod 1 so that the rod is tightly held between the sidewalls 39 substantially without any lateral play.
- Fig. 2b illustrates a second exemplary cross-section having 5 sides with the same properties as that of Fig. 2a, in particular two parallel sides 35, 36.
- Fig. 2c illustrates a third exemplary cross-section having 6 sides with the same properties as that of Fig. 2a.
- Fig. 3a illustrates an exemplary rod 1 having 5 sides of which 2 sides 35, 36 are plane-parallel and 2 tapering flanks 42, 43 are bevelled.
- the bevel angle 37 of the tapered flanks 42, 43 is at least 10° with respect to the frontal plane 45 of the rod on either side.
- the frontal plane 45 is a virtual plane orthogonal to the parallel sides 35, 36.
- Fig. 3b illustrates a corresponding pedicle screw 2 with the opening contour 3 that is congruent with the rod 1 of Fig. 3, the screw head 51, the screw thread 59, the clamping device 4 including e.g. a spacer 5 and a clamping element 6.
- Fig. 3c illustrates the rod 1, the screw 2, the spacer 5, and an external nut 7 as the clamping element 6.
- the nut 7 is screwed on a thread 59 with the nut 7 exteriorily
- Fig. 4a illustrates an opening 3 in the screw head 51 with a central ridge 8.
- Fig. 4b illustrates the corresponding spacer 5 with side notches complementary to the ridge 8.
- the spacer 5 is provided with a ridge 9 which completes the ridge 8 to a circumferential ridge once the spacer 5 is inserted in the opening 3.
- Fig. 5a illustrates an opening 3 in the screw head 51 with an upper ridge 10a and a lower ridge 10b.
- Fig. 5b illustrates the corresponding spacer 5 with upper side notches and lower side notches.
- the notches are complementariIy shaped to the ridges 10.
- this spacer 5 is provided with an upper ridge 11a and a lower ridge lib complementing the ridges 10 a/b to a complete circumferential ridge.
- the circumferential ridge or ridges constitute the area of contact, the contour of which is substantially identical to the contour of the rod.
- Fig. 6 illustrates a variant using an internal nut 12 with a separate spacer 5 as the clamping device 4. Accordingly, the thread 63 for holding the clamping device 4 is machined inside the opening 3.
- Fig. 7 illustrates a variant using an external nut 13 with an integrated spacer 5 as the clamping device 4.
- Fig. 8 illustrates a variant using an internal nut 14 with an integrated spacer 5 as the clamping device 4.
- the part between the beveled flanks may be rounded (cf. Fig. 3a) , essentially constituted by an edge or more generally by a polygonal line, with or without part or all corners rounded.
- the bevel angle is chosen in a range from 10° to 80°, and is preferably about 60°.
Abstract
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES10731707T ES2401315T3 (en) | 2009-07-16 | 2010-07-01 | Anchoring device for a connecting rod for spine stabilization |
CA2767274A CA2767274C (en) | 2009-07-16 | 2010-07-01 | Anchorage arrangement for a connecting rod for the stabilization of the spine |
DK10731707.5T DK2309936T3 (en) | 2009-07-16 | 2010-07-01 | Anchoring arrangement for a connecting rod for stabilizing the spine |
EP10731707A EP2309936B1 (en) | 2009-07-16 | 2010-07-01 | Anchorage arrangement for a connecting rod for the stabilization of the spine |
RU2012100639/14A RU2565484C2 (en) | 2009-07-16 | 2010-07-01 | Fixation assembly for joint bar for spine stabilisation |
JP2012519860A JP5716022B2 (en) | 2009-07-16 | 2010-07-01 | Connecting rod fixing device for stabilizing the spine |
KR1020127003833A KR101697492B1 (en) | 2009-07-16 | 2010-07-01 | Anchorage arrangement for a connecting rod for the stabilization of the spine |
US13/382,976 US9149298B2 (en) | 2009-07-16 | 2010-07-01 | Anchorage arrangement for a connecting rod for the stabilization of the spine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH11132009 | 2009-07-16 | ||
CH1113/09 | 2009-07-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011006267A1 true WO2011006267A1 (en) | 2011-01-20 |
Family
ID=42651487
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CH2010/000168 WO2011006267A1 (en) | 2009-07-16 | 2010-07-01 | Anchorage arrangement for a connecting rod for the stabilization of the spine |
Country Status (9)
Country | Link |
---|---|
US (1) | US9149298B2 (en) |
EP (1) | EP2309936B1 (en) |
JP (1) | JP5716022B2 (en) |
KR (1) | KR101697492B1 (en) |
CA (1) | CA2767274C (en) |
DK (1) | DK2309936T3 (en) |
ES (1) | ES2401315T3 (en) |
RU (1) | RU2565484C2 (en) |
WO (1) | WO2011006267A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012024807A1 (en) | 2010-08-26 | 2012-03-01 | Spinesave Ag | Spinal implant set for the dynamic stabilization of the spine |
EP3437576A1 (en) * | 2017-08-03 | 2019-02-06 | Biedermann Technologies GmbH & Co. KG | Stabilization device for bones or vertebrae |
Families Citing this family (10)
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---|---|---|---|---|
WO2009155523A1 (en) * | 2008-06-19 | 2009-12-23 | Life Spine, Inc. | Spinal rod connectors configured to retain spinal rods of varying diameters |
WO2010030772A1 (en) * | 2008-09-10 | 2010-03-18 | Life Spine, Inc. | Spinal rod |
USD746461S1 (en) | 2009-06-19 | 2015-12-29 | Life Spine, Inc. | Spinal rod connector |
US20140018867A1 (en) * | 2011-02-04 | 2014-01-16 | Stefan Freudiger | Precaution against jamming on open bone screws |
US20130085534A1 (en) * | 2011-09-30 | 2013-04-04 | Nicolas Hainard | Connectors for a secondary bone anchor |
AU2016251062B2 (en) * | 2015-04-24 | 2020-10-29 | K2M, Inc. | Tethering screw system |
DE102015109481A1 (en) * | 2015-06-15 | 2016-12-15 | Aesculap Ag | Pedicle screw with radially offset guide |
US20200367944A1 (en) * | 2019-05-22 | 2020-11-26 | Nuvasive, Inc. | Posterior spinal fixation screws |
RU195374U1 (en) * | 2019-10-14 | 2020-01-23 | Ольга Алексеевна Борисова | Universal axial shaft for transpedicular fixation of the spine |
US20210186565A1 (en) * | 2019-12-20 | 2021-06-24 | Warsaw Orthopedic, Inc. | Anti-Splay Head and Set Screw for Spinal Fixation |
Citations (10)
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FR2829014A1 (en) * | 2001-09-03 | 2003-03-07 | Stryker Spine | Osteosynthesis frame for spinal surgery has anchor with locking grub screw pressing retaining saddle against connector rod |
EP1364622B1 (en) | 2002-05-21 | 2005-07-20 | Spinelab GmbH | Elastical system for stabilising the spine |
US20050203518A1 (en) * | 2004-03-05 | 2005-09-15 | Biedermann Motech Gmbh | Stabilization device for the dynamic stabilization of vertebrae or bones and rod like element for such a stabilization device |
EP1527742B1 (en) | 2003-10-31 | 2006-07-26 | Spinelab AG | Locking cap for pedicle screws for fixing of elastic rods |
US20070293862A1 (en) * | 2005-09-30 | 2007-12-20 | Jackson Roger P | Dynamic stabilization connecting member with elastic core and outer sleeve |
US20080177318A1 (en) * | 2007-01-18 | 2008-07-24 | Warsaw Orthopedic, Inc. | Vertebral Stabilizer |
EP1759646B1 (en) | 2005-08-29 | 2008-07-30 | BIRD Biedermann AG | Non-positive rod/screw connection having positive contribution induced by deformation |
US20080183216A1 (en) * | 2007-01-26 | 2008-07-31 | Jackson Roger P | Dynamic stabilization member with molded connection |
US20080262556A1 (en) * | 2007-02-27 | 2008-10-23 | Jacofsky Marc C | Modular polyaxial pedicle screw system |
US20090163955A1 (en) * | 2007-12-19 | 2009-06-25 | Missoum Moumene | Polymeric Pedicle Rods and Methods of Manufacturing |
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US20040260284A1 (en) * | 2003-06-23 | 2004-12-23 | Matthew Parker | Anti-splay pedicle screw |
AU2004257643A1 (en) * | 2003-07-03 | 2005-01-27 | Synthes Gmbh | Top loading spinal fixation device and instruments for loading and handling the same |
US7708762B2 (en) * | 2005-04-08 | 2010-05-04 | Warsaw Orthopedic, Inc. | Systems, devices and methods for stabilization of the spinal column |
GB0521585D0 (en) * | 2005-10-22 | 2005-11-30 | Depuy Int Ltd | A spinal support rod |
US20070191841A1 (en) * | 2006-01-27 | 2007-08-16 | Sdgi Holdings, Inc. | Spinal rods having different flexural rigidities about different axes and methods of use |
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-
2010
- 2010-07-01 JP JP2012519860A patent/JP5716022B2/en active Active
- 2010-07-01 CA CA2767274A patent/CA2767274C/en active Active
- 2010-07-01 RU RU2012100639/14A patent/RU2565484C2/en active
- 2010-07-01 US US13/382,976 patent/US9149298B2/en active Active
- 2010-07-01 EP EP10731707A patent/EP2309936B1/en active Active
- 2010-07-01 WO PCT/CH2010/000168 patent/WO2011006267A1/en active Application Filing
- 2010-07-01 DK DK10731707.5T patent/DK2309936T3/en active
- 2010-07-01 ES ES10731707T patent/ES2401315T3/en active Active
- 2010-07-01 KR KR1020127003833A patent/KR101697492B1/en active IP Right Grant
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2829014A1 (en) * | 2001-09-03 | 2003-03-07 | Stryker Spine | Osteosynthesis frame for spinal surgery has anchor with locking grub screw pressing retaining saddle against connector rod |
EP1364622B1 (en) | 2002-05-21 | 2005-07-20 | Spinelab GmbH | Elastical system for stabilising the spine |
EP1527742B1 (en) | 2003-10-31 | 2006-07-26 | Spinelab AG | Locking cap for pedicle screws for fixing of elastic rods |
US20050203518A1 (en) * | 2004-03-05 | 2005-09-15 | Biedermann Motech Gmbh | Stabilization device for the dynamic stabilization of vertebrae or bones and rod like element for such a stabilization device |
EP1759646B1 (en) | 2005-08-29 | 2008-07-30 | BIRD Biedermann AG | Non-positive rod/screw connection having positive contribution induced by deformation |
US20070293862A1 (en) * | 2005-09-30 | 2007-12-20 | Jackson Roger P | Dynamic stabilization connecting member with elastic core and outer sleeve |
US20080177318A1 (en) * | 2007-01-18 | 2008-07-24 | Warsaw Orthopedic, Inc. | Vertebral Stabilizer |
US20080183216A1 (en) * | 2007-01-26 | 2008-07-31 | Jackson Roger P | Dynamic stabilization member with molded connection |
US20080262556A1 (en) * | 2007-02-27 | 2008-10-23 | Jacofsky Marc C | Modular polyaxial pedicle screw system |
US20090163955A1 (en) * | 2007-12-19 | 2009-06-25 | Missoum Moumene | Polymeric Pedicle Rods and Methods of Manufacturing |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012024807A1 (en) | 2010-08-26 | 2012-03-01 | Spinesave Ag | Spinal implant set for the dynamic stabilization of the spine |
US9232964B2 (en) | 2010-08-26 | 2016-01-12 | Spinesave Ag | Spinal implant set for the dynamic stabilization of the spine |
EP3437576A1 (en) * | 2017-08-03 | 2019-02-06 | Biedermann Technologies GmbH & Co. KG | Stabilization device for bones or vertebrae |
US11134991B2 (en) | 2017-08-03 | 2021-10-05 | Biedermann Technologies Gmbh & Co. Kg | Stabilization device for bones or vertebrae |
Also Published As
Publication number | Publication date |
---|---|
KR101697492B1 (en) | 2017-01-18 |
CA2767274C (en) | 2017-11-28 |
JP2012532704A (en) | 2012-12-20 |
JP5716022B2 (en) | 2015-05-13 |
US20120123480A1 (en) | 2012-05-17 |
CA2767274A1 (en) | 2011-01-20 |
ES2401315T3 (en) | 2013-04-18 |
EP2309936A1 (en) | 2011-04-20 |
DK2309936T3 (en) | 2013-04-02 |
EP2309936B1 (en) | 2012-12-26 |
RU2565484C2 (en) | 2015-10-20 |
RU2012100639A (en) | 2013-11-10 |
KR20120051693A (en) | 2012-05-22 |
US9149298B2 (en) | 2015-10-06 |
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