WO2015139972A1 - Pumpenvorrichtung - Google Patents
Pumpenvorrichtung Download PDFInfo
- Publication number
- WO2015139972A1 WO2015139972A1 PCT/EP2015/054755 EP2015054755W WO2015139972A1 WO 2015139972 A1 WO2015139972 A1 WO 2015139972A1 EP 2015054755 W EP2015054755 W EP 2015054755W WO 2015139972 A1 WO2015139972 A1 WO 2015139972A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pump
- light source
- optical fiber
- hose
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00055—Operational features of endoscopes provided with output arrangements for alerting the user
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- 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
- A61B1/00163—Optical arrangements
- A61B1/00165—Optical arrangements with light-conductive means, e.g. fibre optics
-
- 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
- A61B1/012—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 characterised by internal passages or accessories therefor
- A61B1/015—Control of fluid supply or evacuation
-
- 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
- A61B1/06—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 with illuminating arrangements
- A61B1/07—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 with illuminating arrangements using light-conductive means, e.g. optical fibres
-
- 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
- A61B1/12—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 with cooling or rinsing arrangements
Definitions
- the invention relates to pumping devices for use in operating theaters and to arrangements of corresponding pumping devices and endoscopes.
- pumps are often found as part of medical apparatus or as separate units connected to medical apparatus. Examples include suction pumps or heart-lung machines. Also, pumps are used to deliver irrigation fluids to a surgical site to flush resected tissue and blood from the surgical site.
- the housing of the pump or the display arranged thereon is usually not in the field of vision of the surgeon, so that he turn during the operation according to the pump or inquire with him at the surgery assistants on the operating condition of the pump to the get dis ⁇ play displayed information.
- This prior art is disadvantageous because in both cases the surgeon is disturbed in his concentration on the actual operation.
- the invention is therefore an object of the invention to provide a pump which no longer has the disadvantages of the prior art, or at least only to a reduced extent.
- the invention relates to a pump device for use in operating theaters, comprising a pump unit with a pump and a control unit, and a pump hose connected to the pump unit, wherein the pump unit comprises a controllable by the control unit for displaying the operating state of the pump unit light ⁇ source and the pump hose an optical fiber extending along the pump tube, wherein the first end of the optical fiber for coupling light of the controllable light source is arranged.
- the invention further relates to an arrangement of a pump device according to the invention and an endoscope, which is designed for supplying irrigation fluid in the Operati ⁇ ons with, wherein the free end of the pump ⁇ hose of the pump device according to the invention for supplying irrigation fluid is connected to the endoscope.
- the information can be functions of the operating state of the pump unit in UNMIT ⁇ ate vicinity to the operating area be displayed so that a surgeon can perceive the relevant information practically incidentally, without being disturbed in his concentration on the actual operation.
- the invention makes advantage of the fact that the free end of the pump hose a Pum ⁇ pen device for use in operating theaters zoom into or close to the actual operational area ⁇ is performed regularly, which also inventively provided, extending along the pump hose Lichtleitfa ⁇ ser is performed in the immediate vicinity of the operation area.
- the light coupled in at the first end emerges again and can be perceived by the surgeon as a point of light.
- This point of light supplies the operator with information about the operating state of the pump on the basis of the actuation of the light source according to the invention.
- the second end of the optical fiber may be disposed at the end of the pump tube.
- the second end of the Lichtleitfa ⁇ ser is preferably arranged in this case in a range between 0 cm and 5 cm from the free end of the pump hose.
- the light can for example be irradiated directly into a usually transparent Luer-Lock connector, from which it is then diffused. It is possible that the light source does not emit visible light, for example UV light, which is then converted into visible light and emitted by a conversion element arranged on the hose connection, for example a phosphor element.
- Optical fiber is set back from the free end of the pump tube.
- the second end of the optical fiber may preferably be arranged 10 cm to 50 cm, more preferably 20 cm to 40 cm from the free end of the pump ⁇ hose.
- the optical fiber has one or more impurities to the light exit between its two ends. Every fault is for the surgeon then perceptible as a point of light. In particular, if more than one impurity is provided, it can thus be ensured that, independently of the guidance of the pump hose into or onto the operating area, at least one impurity and thus at least one light spot lie within the general field of vision of the surgeon.
- the impurities are preferably formed as notches on the outside of the optical fiber. If several impurities provided, it is preferred if the distances Zvi ⁇ rule two adjacent impurity decrease starting from the first end of the optical fiber along the pump hose to the second end of the optical fiber back. In this way, by choosing the distances which are otherwise suitable, it can be achieved that approximately the same amount of light is emitted per length of the hose.
- the second end of the optical fiber may be free in the presence of impurities, thus serving as an additional light spot. Alternatively, the second end of the optical fiber but also be covered, so that only the impurities serve as points of light.
- the controllable light source is preferably farbver S ⁇ Lich. It is particularly preferred if the color change of the light source can be controlled by the control unit. This can be achieved by moving color filters. It is particularly preferred, however, if the light source ⁇ summarizes several differently colored light sources environmentally that can individually with regard to their intensity angesteu- be ert so that as a result, adjusts the desired color of the light source. Preferably, the different colored bulbs include the colors red, green and blue, possibly also white.
- the controllable light source preferably comprises light-emitting diodes (LEDs). LEDs are characterized by their long service life, even with many on and off operations. LEDs are available in addition in the Favor ⁇ th for the adjustability on different colored bulbs red, green, blue and white.
- the control means is preferably configured to let the light source pulse in dependence of the introduced ⁇ easily at the pump flow rate or blinking.
- Pulsing in this context means that the intensity of the light source fluctuates rhythmically, but preferably without going out.
- Flashing means a rhythmic switching on and off of the light source.
- the control device is furthermore preferably designed to adjust the color of the light source as a function of the direction of flow. As a result, it can be ensured that, for example, the luminous spots on pump hoses for the inflow that are perceptible to the impurities and / or the second end of the optical fiber shine differently in color than those on pump hoses for the drain.
- the pump device can preferably also have one or more sensors for monitoring operating parameters of the pump unit and / or properties of the fluid to be pumped, such as its temperature.
- the controller is preferred to display the measurement values of the sensor or sensors by the light source manufactured ⁇ det then, preferably wherein the color of the light source in depen ⁇ dependence of the measured values is changed.
- the temperature temperature of the fluid to be pumped are measured and, if the temperature is within a predetermined temperature range, green is set as the color of the light source, while if the temperature deviates from the specified range, the color of the light source is changed to red.
- the optical fiber may be disposed on the outside of the pump tube.
- the optical fiber can be attached, for example, by gluing to the pump hose. It is also possible that the optical fiber is coextruded with the pump tube. If the pump hose is at least partially transparent, the optical fiber can also be embedded in the pump hose.
- the pump hose can also be a, preferably at least partially transparent, multi-lumen hose, wherein the optical fiber is guided through a chamber of the multi-lumen hose or coextruded with the multi-lumen hose.
- a chamber for liquid transport for example.
- Lichtleit ⁇ fibers for endoscopy lighting or laser applications, etc. may be performed.
- the pump apparatus it is preferably a pump device for the flushing liquid in minimally invasive procedures through an endoscope, wherein the rinsing liquid is brought a ⁇ through the endoscope even in the operation area.
- the free end of the pump hose is here ⁇ preferably for connection to a corresponding Endo Skop trained.
- the invention also relates to a corre sponding arrangement of a pump unit according to the invention and such an endoscope, wherein the free end of the Pum ⁇ penschlauchs is connected to the endoscope.
- controllable light source is not arranged on the pump unit but rather at the pump hose and is connected via an electrical line that extends in place of the optical fiber along the pump tubing to the control unit of the pump ⁇ unit.
- the position of the light source at the pump tube can be arbitrarily selected thereby, in particular ⁇ sondere but they may be disposed at the free end of the pump hose.
- FIG. 1 shows a first embodiment of a pump device OF INVENTION ⁇ to the invention
- FIG. 2 shows a second exemplary embodiment of a pump device according to the invention
- Figure 3a-b two exemplary embodiments of
- FIG. 1 schematically shows a pump device 1 according to the invention for use in operating theaters.
- the pump device 1 includes a pump unit 2 to a pump 3 and a control unit 4. Via the STEU ⁇ réellestechnik 4, the pump can be controlled. 3
- control elements can be present on the pump unit 2, via which the pump unit 2 can be actuated. For example. can be adjusted via a corresponding control element, the desired flow rate of the pump 3.
- the controls and any control lines are not shown.
- a pump hose 5 is connected, so that by the pump 3 of the pump unit 2 fluids through the pump hose 5 can be promoted.
- the pump 3 for example, promote rinsing fluid from a reservoir, not shown, through the pump hose 5, so that the rinsing liquid at the free end 6 of the pump ⁇ hose 5 exits. It is also possible that the pump 3, the pump unit 2 in the opposite direction processing ⁇ tet, so that a fluid at the free end 6 of the pump hose 5 sucked and discharged by the pump hose 5 in a not shown collecting vessel is.
- a light source 7 is further provided.
- the light source 7 can be controlled by the control unit 4 with regard to its switch-on state and its intensity.
- the light source 7 may comprise a single light source, for example a light-emitting diode (LED).
- LED light-emitting diode
- the control unit 4 is to be keptbil ⁇ det to control the color or color changes of the light source. 7
- an optical fiber 8 is provided along the pump tube 5, an optical fiber 8 is provided.
- the optical fiber 8 is arranged with its first end 9 so that the light from the light source 7 is coupled into the optical fiber 8.
- the light coupled into the optical fiber 8 at the first end 9 emerges again at the second end 10 of the optical fiber 8 and is perceivable there as a light spot.
- the second end 10 of the Lichtleitfa ⁇ ser 8 is at the free end 6 of the pump tube 5, ge ⁇ more precisely 5 cm away from the free end 6 of the pump tube 5 arranged away.
- the control unit 4 is configured to control a function of the operating state of the pump inlet ⁇ unit 2 and in particular of the pump 3, the light source ⁇ . 7
- the light source 7 may be in parallel with the check-in and shut ⁇ state of the pump 3 switched on and off.
- the control unit 4, the light source 7 such steu ⁇ ren that the light source 7 is pulsating in dependence on the set on the pump 3 flow rate or flashing.
- a color changeable light source 7 it is possible to change the flow direction of the fluid through the pump hose 5, which is determined by the pumping direction of the pump 3.
- the light is not guided ⁇ leitfaser 8 to the free end 6 of the pump hose. 5 Rather, the second end 10 of the Lichtleitfa ⁇ ser compared to the free end 6 of the pump tube 5 is set back by 30 cm.
- the optical fiber 8 has between its first end 9 and its second end 10 a plurality of impurities 11, wherein the impurity 11 are formed to the light exit. At the impurities 11 thus enters a part of the coupled-in light at the first end 9, whereby each defect 11 is perceptible to the surgeon as a single point of light.
- the sequence is the Opera ⁇ thousand along pump tube 5, a plurality of light points ⁇ perceptible, each indicating the operating state of the pump unit. 2
- optical fiber 8 comprises a light-guiding core 13 which is surrounded by a jacket 14.
- the jacket 14 has a lower refractive index than the light-guiding core 13, so that there is basically a total reflection at the transition from the core 13 to the jacket 14.
- the optical fiber 8 is notched, so that the jacket 14 is interrupted. At the notches it comes in the sequence to no total reflection more. Rather, in the region of the defect 11 light can escape from the photoconductive core 13. This light emission can be perceived by the surgeon as a point of light at the defect 11.
- the distance between two adjacent impurities 11 decreases from the first end 9 of the optical fiber to the second end 10 of the optical fiber. In this case, the distance between the two impurities 11 located closest to the pump unit 2 is greatest, the distance between the two impurities 11 closest to the second end 10 of the optical fiber 8 is the smallest.
- perfernnab ⁇ section of the tube 5 is about the same amount of light ⁇ given.
- the skilled person is readily able to choose the required individual distances between two adjacent impurities 11 suitable to obtain a substantially equal intensity at all impurities 11.
- the second end 10 of the optical fiber 3 is free in the embodiment of Figure 2 and is therefore just ⁇ if perceived as a point of light for the surgeon.
- the pump unit 2 in the embodiment of Figure 2 further comprises a temperature sensor 15, with which the temperature of the pumped through the pump tube 5 fluid is measured.
- the control unit 4 is designed so that the color of the light source 7 is changed according to the measured values of the temperature sensor 15. For example, the color of the light source 7 may be green when the measured temperature is within a predetermined temperature range. If the measured temperature lies outside this temperature range, the color of the light source 7 can be changed to red.
- FIG. 3 two alternative embodiments of the pump hose 5, as used in the device according to FIGS. 1, 2, are shown in a schematic cross section.
- the light ⁇ leitmaschine is arranged reasonable 8 on the outside of the pump hose. 5
- the optical fiber 8 can be subsequently glued to the pump hose 5. But it is also possible that the optical fiber 8 is coextruded with the pump tube 5.
- the pump hose 5 according to Figure 3b is designed as a multi-lumen hose, wherein the optical fiber 8 is guided through a chamber of the multi-lumen hose.
- the pump hose 5 is at least at the points at which light emerges from the optical fiber 8 - ie at the second end 10 and / or the impurities 11 - transparent.
- optical fibers for endoscopy illumination or laser applications may be guided through the remaining chambers of the multilumen tube.
- the optical fiber 8 may be coextruded with the multi-lumen tube or subsequently introduced into an already existing multi-lumen tube.
- the pump device 1 corresponds to that of Figure 1, which is why reference is made to the statements there.
- the endoscope 20 has, along its optic endoscope on a supply channel for flushing liquid, with which a toomme ⁇ chender cavity can be filled and purged.
- Corresponding endoscopes are known from the prior art.
- the pump device 1 is formed in a corresponding arrangement for supplying rinsing liquid from a reservoir 21.
- the operating state of the pump unit 2 of the pump device 1 is thereby shows reasonable for the operator by the light spot at the second end 10 of the optical fiber 8, which is arranged due to its arrangement at the end 6 of the pump ⁇ tube 5 close to the endoscope 20 (see FIG. Exporting ⁇ stanchions to FIG. 1).
- the surgeon thus receives information NEN about the operating state of the pump unit 2 in UNMIT ⁇ ate vicinity to the operating area, so that it can take this infor mation ⁇ casual and without troubles.
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Optics & Photonics (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Radiology & Medical Imaging (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP15709877.3A EP3119262B1 (de) | 2014-03-18 | 2015-03-06 | Pumpenvorrichtung |
| JP2016550848A JP6475747B2 (ja) | 2014-03-18 | 2015-03-06 | ポンプデバイス |
| CN201580011438.2A CN106413505B (zh) | 2014-03-18 | 2015-03-06 | 泵送设备 |
| US15/119,228 US10772484B2 (en) | 2014-03-18 | 2015-03-06 | Pump device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014204997.0 | 2014-03-18 | ||
| DE102014204997.0A DE102014204997B4 (de) | 2014-03-18 | 2014-03-18 | Pumpenvorrichtung |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2015139972A1 true WO2015139972A1 (de) | 2015-09-24 |
Family
ID=52682685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2015/054755 Ceased WO2015139972A1 (de) | 2014-03-18 | 2015-03-06 | Pumpenvorrichtung |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US10772484B2 (enExample) |
| EP (1) | EP3119262B1 (enExample) |
| JP (1) | JP6475747B2 (enExample) |
| CN (1) | CN106413505B (enExample) |
| DE (1) | DE102014204997B4 (enExample) |
| WO (1) | WO2015139972A1 (enExample) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107610688B (zh) * | 2017-09-05 | 2024-04-26 | 同济大学 | 一种腔管复合隔声结构 |
| CN112535769A (zh) * | 2020-11-05 | 2021-03-23 | 李明 | 一种肿瘤科用引流装置 |
| DE102022106156A1 (de) * | 2022-03-16 | 2023-09-21 | Schölly Fiberoptic GmbH | Medizinisches Visualisierungs- und/oder Beleuchtungssystem sowie Verfahren zum Anzeigen eines nicht-sichtbaren Beleuchtungslichts |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060030751A1 (en) * | 2004-08-04 | 2006-02-09 | Olympus Corporation | Endoscopic system equipped with gas supply apparatus |
| CN202876062U (zh) * | 2012-04-28 | 2013-04-17 | 黄新奎 | 一种多功能负压吸引器 |
| WO2013160443A1 (de) * | 2012-04-27 | 2013-10-31 | Abiomed Europe Gmbh | Intravasale rotationsblutpumpe |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4416268A (en) * | 1980-07-10 | 1983-11-22 | Olympus Optical Co., Ltd. | Endoscope having two detachable armour tubes |
| JPS5846930A (ja) * | 1981-09-17 | 1983-03-18 | オリンパス光学工業株式会社 | 内視鏡の送気送液装置 |
| US4813400A (en) * | 1986-08-08 | 1989-03-21 | Olympus Optical Co., Ltd. | Optical fiber assembly for an endoscope |
| US5432876C1 (en) * | 1992-10-19 | 2002-05-21 | Minnesota Mining & Mfg | Illumination devices and optical fibres for use therein |
| US6929602B2 (en) * | 1998-09-28 | 2005-08-16 | Kabushiki Kaisha Toshiba | Endoscope apparatus |
| JP2004524076A (ja) * | 2001-01-11 | 2004-08-12 | ギブン・イメージング・リミテツド | 生体内処置のための装置およびシステム |
| JP5302491B2 (ja) * | 2003-12-22 | 2013-10-02 | 日亜化学工業株式会社 | 発光装置及び内視鏡装置 |
| DE102009024941A1 (de) * | 2009-06-09 | 2010-12-23 | Carl Zeiss Surgical Gmbh | Beleuchtungsvorrichtung und medizinisch-optisches Beobachtungsgerät |
| JP5542021B2 (ja) * | 2010-09-28 | 2014-07-09 | 富士フイルム株式会社 | 内視鏡システム、内視鏡システムの作動方法、及びプログラム |
| CN103249351A (zh) * | 2010-12-08 | 2013-08-14 | 内布拉斯加大学董事会 | 便携式腹腔镜系统 |
| EP3566636B1 (en) * | 2012-06-13 | 2024-02-21 | Boston Scientific Scimed, Inc. | Medical device visualization system |
| JP5650697B2 (ja) * | 2012-09-06 | 2015-01-07 | 富士フイルム株式会社 | 送気システム |
-
2014
- 2014-03-18 DE DE102014204997.0A patent/DE102014204997B4/de not_active Expired - Fee Related
-
2015
- 2015-03-06 US US15/119,228 patent/US10772484B2/en not_active Expired - Fee Related
- 2015-03-06 EP EP15709877.3A patent/EP3119262B1/de not_active Not-in-force
- 2015-03-06 CN CN201580011438.2A patent/CN106413505B/zh not_active Expired - Fee Related
- 2015-03-06 WO PCT/EP2015/054755 patent/WO2015139972A1/de not_active Ceased
- 2015-03-06 JP JP2016550848A patent/JP6475747B2/ja not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060030751A1 (en) * | 2004-08-04 | 2006-02-09 | Olympus Corporation | Endoscopic system equipped with gas supply apparatus |
| WO2013160443A1 (de) * | 2012-04-27 | 2013-10-31 | Abiomed Europe Gmbh | Intravasale rotationsblutpumpe |
| CN202876062U (zh) * | 2012-04-28 | 2013-04-17 | 黄新奎 | 一种多功能负压吸引器 |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3119262A1 (de) | 2017-01-25 |
| US20170007099A1 (en) | 2017-01-12 |
| CN106413505A (zh) | 2017-02-15 |
| EP3119262B1 (de) | 2020-07-15 |
| DE102014204997A1 (de) | 2015-09-24 |
| CN106413505B (zh) | 2019-07-16 |
| JP6475747B2 (ja) | 2019-02-27 |
| DE102014204997B4 (de) | 2016-08-18 |
| JP2017509385A (ja) | 2017-04-06 |
| US10772484B2 (en) | 2020-09-15 |
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