WO2013077895A1 - Three dimensional virtual and augmented reality display system - Google Patents

Three dimensional virtual and augmented reality display system Download PDF

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Publication number
WO2013077895A1
WO2013077895A1 PCT/US2012/000560 US2012000560W WO2013077895A1 WO 2013077895 A1 WO2013077895 A1 WO 2013077895A1 US 2012000560 W US2012000560 W US 2012000560W WO 2013077895 A1 WO2013077895 A1 WO 2013077895A1
Authority
WO
WIPO (PCT)
Prior art keywords
eye
projection device
viewer
image
display
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
Application number
PCT/US2012/000560
Other languages
English (en)
French (fr)
Inventor
John Graham MACNAMARA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Magic Leap Inc
Original Assignee
Magic Leap Inc
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
Priority to EP12851157.3A priority Critical patent/EP2783352B1/en
Priority to KR1020217006982A priority patent/KR102376368B1/ko
Priority to NZ625509A priority patent/NZ625509B2/en
Priority to AU2012341069A priority patent/AU2012341069B2/en
Priority to CA2858208A priority patent/CA2858208C/en
Priority to KR1020207014691A priority patent/KR102227381B1/ko
Priority to KR1020147017217A priority patent/KR102116697B1/ko
Priority to RU2014125226A priority patent/RU2628164C2/ru
Priority to EP19154686.0A priority patent/EP3503035B1/en
Priority to BR112014012615A priority patent/BR112014012615A2/pt
Priority to CN201280067730.2A priority patent/CN104067316B/zh
Priority to KR1020227008484A priority patent/KR102440195B1/ko
Priority to EP22163415.7A priority patent/EP4036862A1/en
Application filed by Magic Leap Inc filed Critical Magic Leap Inc
Priority to KR1020177030366A priority patent/KR102095220B1/ko
Priority to JP2014543465A priority patent/JP6250547B2/ja
Priority to KR1020227030044A priority patent/KR102513896B1/ko
Publication of WO2013077895A1 publication Critical patent/WO2013077895A1/en
Priority to IL232746A priority patent/IL232746A/en
Anticipated expiration legal-status Critical
Priority to IL252284A priority patent/IL252284B/en
Priority to AU2018203315A priority patent/AU2018203315B2/en
Priority to AU2018203318A priority patent/AU2018203318B2/en
Priority to AU2020257062A priority patent/AU2020257062B2/en
Priority to AU2022202379A priority patent/AU2022202379B2/en
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • H04N13/388—Volumetric displays, i.e. systems where the image is built up from picture elements distributed through a volume
    • H04N13/39—Volumetric displays, i.e. systems where the image is built up from picture elements distributed through a volume the picture elements emitting light at places where a pair of light beams intersect in a transparent material
    • 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
    • G02B30/22—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 of the stereoscopic type
    • G02B30/24—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 of the stereoscopic type involving temporal multiplexing, e.g. using sequentially activated left and right shutters
    • 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. three-dimensional [3D] slide viewers
    • 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
    • G02B30/50—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images the image being built up from image elements distributed over a three-dimensional [3D] volume, e.g. voxels
    • G02B30/52—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images the image being built up from image elements distributed over a three-dimensional [3D] volume, e.g. voxels the three-dimensional [3D] volume being constructed from a stack or sequence of two-dimensional [2D] planes, e.g. depth sampling systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/18—Diffraction gratings
    • G02B5/1876—Diffractive Fresnel lenses; Zone plates; Kinoforms
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/18—Stereoscopic photography by simultaneous viewing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • G06T19/006—Mixed reality
    • 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
    • H04N13/302—Image reproducers for viewing without the aid of special glasses, i.e. using autostereoscopic displays
    • H04N13/322—Image reproducers for viewing without the aid of special glasses, i.e. using autostereoscopic displays using varifocal lenses or mirrors
    • 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
    • H04N13/388—Volumetric displays, i.e. systems where the image is built up from picture elements distributed through a volume
    • H04N13/395—Volumetric displays, i.e. systems where the image is built up from picture elements distributed through a volume with depth sampling, i.e. the volume being constructed from a stack or sequence of two-dimensional [2D] image planes
    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/18—Diffraction gratings
    • G02B5/1828—Diffraction gratings having means for producing variable diffraction

Definitions

  • the present invention relates to virtual reality and augmented reality imaging and visualization systems.
  • each point in the display's visual field it is desirable for each point in the display's visual field to generate the accommodative response corresponding to its virtual depth. If the accommodative response to a display point does not correspond to the virtual depth of that point, as determined by the binocular depth cues of convergence and stereopsis, the human eye may experience an accommodation conflict, resulting in unstable imaging, harmful eye strain, headaches, and, in the absence of accommodation information, almost a complete lack of surface depth.
  • an augmented reality scenario (8) is depicted with views to the user of actual objects within the user's reality, such as landscaping items including a concrete stage object (1120) in a park setting, and also views of virtual objects added into the view to produce the "augmented" reality view; here a robot statue (1110) is shown virtually standing upon the stage object
  • the augmented reality system is 3-D capable, in which case it provides the user with the perception that the statue (1110) is standing on the stage
  • One embodiment is directed to a three-dimensional image visualization system, comprising a selectively transparent projection device for projecting an image toward an eye of a viewer from a projection device position in space relative to the eye of the viewer, the projection device being capable of assuming a substantially transparent state when no image is projected; an occlusion mask device coupled to the projection device and configured to selectively block light traveling toward the eye from one or more positions opposite of the projection device from the eye of the viewer in an occluding pattern correlated with the image projected by the projection device; and a zone plate diffraction patterning device
  • the system further may comprise a controller operatively coupled to the projection device, occlusion mask device, and the zone plate diffraction patterning device and configured to coordinate projection of the image and associated occluding pattern, as well as interposition of the diffraction pattern at the
  • the controller may comprise a
  • the projection device may comprise a
  • substantially planar transparent digital display substantially occupying a display plane.
  • the display plane may be oriented substantially perpendicularly from a visual axis of the eye of the viewer.
  • the substantially planar transparent digital display may comprise a liquid crystal display.
  • substantially planar transparent digital display may comprise an organic light emitting diode display.
  • the projection device may be configured to project the image toward the eye in a
  • the projection device may comprise a high-speed mini-projector coupled to a substrate- guided delay exit pupil expander device configured to expand the size of the image before delivery to the eye of the viewer.
  • the mini -projector may be mounted substantially perpendicularly to a visual axis of the eye of the viewer, and wherein the substrate- guided delay exit pupil expander device is configured to receive the image from the mini -proj ector and deliver it to the zone plate diffraction patterning device and to the eye of the viewer in the expanded size with an orientation substantially aligned with the visual axis of the eye.
  • the zone plate diffraction patterning device and projection device may comprise at least one common structure.
  • the zone plate diffraction patterning device may be integrated into a waveguide, such that the
  • the projection device comprises a high-speed mini-projector coupled to the waveguide and configured pass the image through the diffraction pattern before the image exits the waveguide en route to the eye of the viewer.
  • the mini -proj ector may be mounted substantially perpendicularly to a visual axis of the eye of the viewer, and the waveguide may be configured to receive the image from the mini -proj ector and deliver it to the eye of the viewer in an expanded size with an orientation substantially aligned with the visual axis of the eye.
  • the occlusion mask device my comprise a display configured to either occlude or pass light at each of a plurality of portions of the display, depending upon a pertinent command to occlude or pass light at each portion.
  • the occlusion mask device may comprise one or more liquid crystal displays.
  • the zone plate diffraction patterning device may comprise a high-frequency binary display configured to either occlude or pass light at each of a
  • the zone plate diffraction patterning device may have a refresh rate of between about 500Hz and about 2,000Hz.
  • the diffraction patterning device may have a refresh rate of about 720Hz.
  • the controller may be configured to operate the
  • the projection device and occlusion mask device at between about 30 and about 60 frames per second, and to operate the zone plate diffraction patterning device to digitally display up to about 12 different diffraction patterns for each frame of the
  • the projection device and occlusion mask device collectively may comprise an imaging module for a single eye of the viewer, and the system further may comprise a second imaging module for another eye of the viewer.
  • Figure 1 depicts an illustration of an augmented reality- scenario with certain virtual reality objects, and certain actual reality objects viewed by a person.
  • Figure 2 illustrates a conventional stereoscopy system to simulate three-dimensional imaging for the user.
  • Figures 3A and 3B illustrate aspects of an accommodation accurate display configuration.
  • Figures 4A-4C illustrate relationships between radius of curvature and focal radius .
  • Figures 5-6C illustrate aspects of diffraction gratings as applied to the subject configurations.
  • FIGS 7A-7C illustrate three different focal mechanisms.
  • Figure 7D illustrates a Fresnel zone plate.
  • Figures 8A-8C illustrate various aspects of diffraction system focusing issues.
  • Figure 9 illustrates one embodiment of a waveguide with embedded diffraction grating.
  • Figure 10 illustrates one embodiment of a waveguide with embedded diffraction grating designed to allow one mode to escape and the other modes to remain trapped in the waveguide .
  • Figures 11A-11B illustrate aspects of a diffractive imaging module embodiment .
  • Figures 12A-12B illustrate aspects of a diffractive imaging module embodiment .
  • Figures 13A-13B illustrate aspects of a diffractive imaging module embodiment .
  • a near field limit (78) of about 0.25 meters is about the closest depth of focus; a far-field limit (80) of about 3 meters means that any item farther than about 3 meters from the human eye receives infinite focus.
  • the layers of focus get more and more thin as one gets closer to the eye; in other words, the eye is able to perceive differences in focal distance that are quite small relatively close to the eye, and this effect dissipates as objects fall farther away from the eye, as shown in Figure 3B.
  • Element 82 illustrates that at an infinite object location, a depth of focus / dioptric spacing value is about 1/3 diopters.
  • a depth of focus / dioptric spacing value is about 1/3 diopters.
  • K(R) is a dynamic parameter for curvature equal to 1/R, where R is the focal radius of an item relative to a surface, then with increasing radius (R3, to R2, up to Rl) , you have decreasing K(R) .
  • the light field produced by a point has a spherical curvature, which is a function of how far away the point is from the eye of the user. This relationship may also be utilized for AAD systems.
  • a conventional diffraction grating (22) is shown, with light passing through the grating spacing (18) at an angle (theta - 20) which is related to the
  • the difference in spatial location of these modes/images and their trajectories allows for filtering out or separation to prevent the aforementioned problems associated with diffraction imaging, such as
  • a waveguide having an embedded diffraction grating; such waveguides are available, for example, from suppliers such as BAE Systems PLC of London, U.K. and may be utilized to intake an image from the left of Figure 9 as shown, pass the image through the embedded
  • an AAD system comprises an imaging module (46, 48) in front of each eye (4, 6) through which the user sees the world.
  • Figure 11B illustrates a larger view of the module (46) with its associated (coupled via the depicted electronic control leads; leads may also be wireless)
  • controller (66) which may be a microprocessor, microcontroller, field programmable gate array (FPGA) , application specific integrated circuit (ASIC), or the like.
  • the controller may be a microprocessor, microcontroller, field programmable gate array (FPGA) , application specific integrated circuit (ASIC), or the like.
  • the system may be configured to operate at an image refresh rate, such as a rate between 30 and 60 frames per second.
  • the controller may be configured to operate a high-refresh rate digital high
  • the zone plate display (52) may be operated at 12 times this, or 720Hz, to be able to provide simulated accommodation to each of the 12 depth layers as shown in Figure 3B.
  • the occluding mask display (54) is configured to display a blacked out image geometrically
  • Figures 12A-12B depict another embodiment wherein an imaging module (58) comprises high-resolution mini projector oriented at an angle approximately perpendicular to the visual axis of the eye; a waveguide comprising a substrate guided delay exit pupil expander device (70) magnifies and redirects the image from the small mini projector and into the zone plate layer (52); the occluding layer (54) provides similar masking functions to protect perception of the projected images from background 1ighting .
  • an imaging module (58) comprises high-resolution mini projector oriented at an angle approximately perpendicular to the visual axis of the eye
  • a waveguide comprising a substrate guided delay exit pupil expander device (70) magnifies and redirects the image from the small mini projector and into the zone plate layer (52); the occluding layer (54) provides similar masking functions to protect perception of the projected images from background 1ighting .
  • Figures 13A-13B depict another embodiment elements 52 and 70 are combined such that the zone plate and projecting layer are essentially housed within the same integrated module (72) which intakes a small image from the mini projector (68) , redirects and magnifies it, and also diffracts it, for passage to the eye; the occluding layer (54) provides similar masking functions to protect perception of the projected images from background lighting.
  • the invention includes methods that may be performed using the subject devices.
  • the methods may comprise the act of
  • Such provision may be
  • the "providing" act merely requires the end user obtain, access, approach, position, set-up, activate, power-up or otherwise act to provide the requisite device in the subject method.
  • Methods recited herein may be carried out in any order of the recited events which is logically possible, as well as in the recited order of events.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Graphics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Processing Or Creating Images (AREA)
  • Devices For Indicating Variable Information By Combining Individual Elements (AREA)
  • User Interface Of Digital Computer (AREA)
PCT/US2012/000560 2011-11-23 2012-11-23 Three dimensional virtual and augmented reality display system Ceased WO2013077895A1 (en)

Priority Applications (22)

Application Number Priority Date Filing Date Title
EP22163415.7A EP4036862A1 (en) 2011-11-23 2012-11-23 Three dimensional virtual and augmented reality display system
NZ625509A NZ625509B2 (en) 2011-11-23 2012-11-23 Three dimensional virtual and augmented reality display system
AU2012341069A AU2012341069B2 (en) 2011-11-23 2012-11-23 Three dimensional virtual and augmented reality display system
CA2858208A CA2858208C (en) 2011-11-23 2012-11-23 Three dimensional virtual and augmented reality display system
KR1020207014691A KR102227381B1 (ko) 2011-11-23 2012-11-23 3차원 가상 및 증강 현실 디스플레이 시스템
KR1020147017217A KR102116697B1 (ko) 2011-11-23 2012-11-23 3차원 가상 및 증강 현실 디스플레이 시스템
RU2014125226A RU2628164C2 (ru) 2011-11-23 2012-11-23 Система отображения трехмерной виртуальной и дополненной реальности
EP19154686.0A EP3503035B1 (en) 2011-11-23 2012-11-23 Three dimensional virtual and augmented reality display system
BR112014012615A BR112014012615A2 (pt) 2011-11-23 2012-11-23 sistema de exibição de realidade aumentada e virtual tridimensional
CN201280067730.2A CN104067316B (zh) 2011-11-23 2012-11-23 三维虚拟和增强现实显示系统
KR1020217006982A KR102376368B1 (ko) 2011-11-23 2012-11-23 3차원 가상 및 증강 현실 디스플레이 시스템
EP12851157.3A EP2783352B1 (en) 2011-11-23 2012-11-23 Three dimensional virtual and augmented reality display system
KR1020227008484A KR102440195B1 (ko) 2011-11-23 2012-11-23 3차원 가상 및 증강 현실 디스플레이 시스템
KR1020177030366A KR102095220B1 (ko) 2011-11-23 2012-11-23 3차원 가상 및 증강 현실 디스플레이 시스템
JP2014543465A JP6250547B2 (ja) 2011-11-23 2012-11-23 ３次元仮想現実および拡張現実表示システム
KR1020227030044A KR102513896B1 (ko) 2011-11-23 2012-11-23 3차원 가상 및 증강 현실 디스플레이 시스템
IL232746A IL232746A (en) 2011-11-23 2014-05-22 Virtual and 3D reality display system
IL252284A IL252284B (en) 2011-11-23 2017-05-15 A 3D augmented reality display system
AU2018203315A AU2018203315B2 (en) 2011-11-23 2018-05-11 Three dimensional virtual and augmented reality display system
AU2018203318A AU2018203318B2 (en) 2011-11-23 2018-05-11 Three dimensional virtual and augmented reality display system
AU2020257062A AU2020257062B2 (en) 2011-11-23 2020-10-20 Three dimensional virtual and augmented reality display system
AU2022202379A AU2022202379B2 (en) 2011-11-23 2022-04-11 Three dimensional virtual and augmented reality display system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201161563403P 2011-11-23 2011-11-23
US61/563,403 2011-11-23

Publications (1)

Publication Number Publication Date
WO2013077895A1 true WO2013077895A1 (en) 2013-05-30

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PCT/US2012/000560 Ceased WO2013077895A1 (en) 2011-11-23 2012-11-23 Three dimensional virtual and augmented reality display system

Country Status (11)

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US (9) US8950867B2 (https=)
EP (3) EP4036862A1 (https=)
JP (5) JP6250547B2 (https=)
KR (6) KR102095220B1 (https=)
CN (2) CN104067316B (https=)
AU (5) AU2012341069B2 (https=)
BR (1) BR112014012615A2 (https=)
CA (2) CA2858208C (https=)
IL (2) IL232746A (https=)
RU (1) RU2628164C2 (https=)
WO (1) WO2013077895A1 (https=)

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JP2017531840A (ja) * 2014-09-29 2017-10-26 マジック リープ，インコーポレイティド 導波路から異なる波長の光を出力する構造および方法
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RU2014125226A (ru) 2015-12-27
EP2783352A4 (en) 2015-07-22
AU2018203315A1 (en) 2018-05-31
US20240027785A1 (en) 2024-01-25
CN107664847B (zh) 2021-04-06
JP2018151674A (ja) 2018-09-27
EP3503035B1 (en) 2022-03-23
AU2020257062B2 (en) 2022-02-03
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US8950867B2 (en) 2015-02-10
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AU2012341069A1 (en) 2014-06-12
KR20170122285A (ko) 2017-11-03
IL232746A0 (en) 2014-07-31
EP2783352B1 (en) 2019-03-27
CA2858208A1 (en) 2013-05-30
US20150124317A1 (en) 2015-05-07
KR102440195B1 (ko) 2022-09-02
US20250314902A1 (en) 2025-10-09
US10191294B2 (en) 2019-01-29
JP2017108444A (ja) 2017-06-15
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AU2022202379B2 (en) 2023-08-17
KR20220124294A (ko) 2022-09-13
BR112014012615A2 (pt) 2017-06-13
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US10670881B2 (en) 2020-06-02
US10444527B2 (en) 2019-10-15
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