WO2019234734A1 - Endoscope accesory devices - Google Patents

Endoscope accesory devices Download PDF

Info

Publication number
WO2019234734A1
WO2019234734A1 PCT/IL2019/050629 IL2019050629W WO2019234734A1 WO 2019234734 A1 WO2019234734 A1 WO 2019234734A1 IL 2019050629 W IL2019050629 W IL 2019050629W WO 2019234734 A1 WO2019234734 A1 WO 2019234734A1
Authority
WO
WIPO (PCT)
Prior art keywords
engagement member
endoscopic
accessory device
tissue
cuff
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/IL2019/050629
Other languages
English (en)
French (fr)
Inventor
Eran GOLDIN
Tomer Adar
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.)
Shaare Zedek Scientific Ltd
Original Assignee
Shaare Zedek Scientific Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shaare Zedek Scientific Ltd filed Critical Shaare Zedek Scientific Ltd
Priority to US15/734,717 priority Critical patent/US20210219979A1/en
Priority to JP2020567485A priority patent/JP2021526868A/ja
Priority to EP19815512.9A priority patent/EP3813686A4/en
Priority to CN201990000852.7U priority patent/CN216365146U/zh
Publication of WO2019234734A1 publication Critical patent/WO2019234734A1/en
Priority to IL279169A priority patent/IL279169A/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
    • 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
    • A61B1/018—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 for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
    • A61B17/12009—Implements for ligaturing other than by clamps or clips, e.g. using a loop with a slip knot
    • A61B17/12013—Implements for ligaturing other than by clamps or clips, e.g. using a loop with a slip knot for use in minimally invasive surgery, e.g. endoscopic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3478—Endoscopic needles, e.g. for infusion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00269—Type of minimally invasive operation endoscopic mucosal resection EMR
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/00296—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/0034—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00358—Snares for grasping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00535—Surgical instruments, devices or methods pneumatically or hydraulically operated
    • A61B2017/00557—Surgical instruments, devices or methods pneumatically or hydraulically operated inflatable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00818—Treatment of the gastro-intestinal system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/0084—Material properties low friction
    • A61B2017/00845—Material properties low friction of moving parts with respect to each other
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
    • A61B17/12009—Implements for ligaturing other than by clamps or clips, e.g. using a loop with a slip knot
    • A61B2017/12018—Elastic band ligators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/30—Surgical pincettes, i.e. surgical tweezers without pivotal connections
    • A61B2017/306—Surgical pincettes, i.e. surgical tweezers without pivotal connections holding by means of suction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/30—Surgical pincettes, i.e. surgical tweezers without pivotal connections
    • A61B2017/306—Surgical pincettes, i.e. surgical tweezers without pivotal connections holding by means of suction
    • A61B2017/308—Surgical pincettes, i.e. surgical tweezers without pivotal connections holding by means of suction with suction cups
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/395—Visible markers with marking agent for marking skin or other tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2217/00—General characteristics of surgical instruments
    • A61B2217/002—Auxiliary appliance
    • A61B2217/005—Auxiliary appliance with suction drainage system

Definitions

  • the present disclosure generally relates to the field of endoscopy, more particularly to endoscopic cuffs configured to provide an external working channel for use with an endoscope and accessory devices for use therewith.
  • Probe 100 is adapted to be inserted into a patient's gastrointestinal lumen (but may also apply to non-digestive lumens and other body cavities) to perform selected therapeutic, diagnostic, and/or screening procedures.
  • Probe 100 typically contains an imaging system 110 having optical fibers, or the like, extending along the length of the probe, a light guide 120, an air/water spray nozzle 130 and a working channel 140.
  • endoscopic tattooing requires that the injection needle be inserted about 3 cm from the lesion at an angle to the colon wall ensuring that the tip of the needle is beneath the mucosa. The needle must then be pulled back to the submucosa level. Elevating the tissue is helpful to verify submucosa depth. A small amount of ink should then be injected to verify placement. If placement is correct, the ink required for tattooing may be injected.
  • the angle at which the needle is inserted into the mucosal wall is operator dependent, and may be influenced by peristalsis.
  • a method for performing endoscopic tattooing including: inserting an endoscopic accessory device through a working channel of an endoscope or of an endoscopic cuff, wherein the accessory device has an elongated shaft with a tissue engagement member at its distal end, and a needle; positioning the tissue engagement member on a gastrointestinal target tissue, such that the tissue engagement member encircles the target tissue; pressuring the tissue engagement member against the target tissue, such that the target tissue protmdes at least partially into a center space defined by the tissue engagement member; extending the needle from a retracted to an exposed position in which at least a sharp distal end of the needle extends into the space defined by the tissue engagement member, thereby piercing the protruding target tissue; and injecting an ink through the needle into the protmding target tissue.
  • the inserting of the endoscopic accessory device through the working channel of the endoscopic cuff comprises inserting the endoscopic accessory device through a guide member positioned within the
  • Certain embodiments of the present disclosure may include some, all, or none of the above advantages.
  • One or more technical advantages may be readily apparent to those skilled in the art from the figures, descriptions and claims included herein.
  • specific advantages have been enumerated above, various embodiments may include all, some or none of the enumerated advantages.
  • FIG. 5A to FIG. 5D schematically illustrate a method for endoscopic tattooing, according to some embodiments
  • the terms“cuff’,“sheath” and“overtube” may be used interchangeably and refer to a sheath-like layer of material configured to cover or be draped over an endoscopic probe.
  • the endoscopic probe may be completely or partially enclosed by the external cuff.
  • the cuff may be expanded by activating an expansion mechanism.
  • expansion of the cuff may increase the outer diameter of the cuff while leaving the inner diameter of the cuff essentially unaffected, thereby increasing the diameter of the working channel.
  • passage of the guide tube through the working channel may cause the roof of the working channel to be lifted/stretched, thereby increasing the diameter thereof.
  • tissue engagement member (b) positioning the tissue engagement member on/against a gastrointestinal target tissue (e.g. a colorectal lesion), such that the tissue engagement member encircles the target tissue;
  • a gastrointestinal target tissue e.g. a colorectal lesion
  • tissue engagement member pressuring the tissue engagement member against the target tissue such that the target tissue protrudes at least partially into a center space defined by the tissue engagement member. It is understood that the applying of the tissue engagement member against the target tissue may be concurrent with the step of positioning the tissue engagement member. Alternatively, the tissue engagement member may initially be positioned at a target location and, only once the location is confirmed as correct, pressure is applied on the tissue engagement member thereby causing the target tissue to protrude/bleb through the tissue engagement member;
  • the tissue engagement member may have a first collapsed configuration, coextensive with the elongated shaft, configured for passage through an endoscope work channel, and a second expanded (e.g. ring shaped) configuration configured to encircle the gastrointestinal tissue.
  • the method may further include having the tissue engagement member assume its second expanded configuration (passively or actively) upon exiting the distal end of the working channel.
  • the method may further include withdrawing the endoscopic accessory device, inserting a new endoscopic accessory device through the working channel and releasing the additional band(s) around the tissue, thereby further tying off the esophageal varix or others without extracting and re-inserting the scope.
  • the tissue engagement member may have a first collapsed configuration, coextensive with the elongated shaft, configured for passage through an endoscope work channel, and a second expanded (e.g. ring shaped) configuration configured to encircle the gastrointestinal tissue.
  • the method may further include having the tissue engagement member assume its second expanded configuration (passively or actively) upon exiting the distal end of the working channel.
  • FIG. 2C and FIG. 2D schematically show a perspective and a front view, respectively, of an endoscope assembly 200 including an endoscope cuff 210, draped around an endoscope probe 250, with an expanded working channel 212, according to some embodiments.
  • working channel 212 allows passage of endoscopic accessory devices, as essentially described herein.
  • working channel 212 may be expanded only when endoscopic assembly 200 reaches its target location so as not to interfere with the introduction of endoscope assembly 200 into the patient's gastrointestinal lumen (or non-GI lumen and other body cavities).
  • FIG. 2E and FIG. 2F schematically show a perspective and a front view, respectively, of an endoscope assembly 200 including an endoscope cuff 210, draped around an endoscope probe 250, wherein endoscope cuff 210 has a guide member 220e inserted through its working channel 212.
  • Guide member 220e is configured to allow essentially friction free or friction reduced passage of the one or more endoscopic accessory devices (not shown) therethrough, and is here shown as having a shape of a cylinder’s sector, thus providing a gutter-like slide for friction-free insertion of an accessory device.
  • Guide member 220e may be inserted into working channel 212 after endoscope probe 250 has been inserted.
  • FIG. 2G and FIG. 2H schematically show a perspective and a front view, respectively, of an endoscope assembly 200 including an endoscope cuff 210, draped around an endoscope probe 250, wherein endoscope cuff 210 has a guide member 220g inserted through its working channel 212.
  • Guide member 220g is configured to allow essentially friction free or friction reduced passage of the one or more endoscopic accessory devices (not shown) therethrough and is here shown as having a shape of a closed half-cylinder, thus providing a channel for friction-free insertion of an accessory device.
  • Guide member 220g may be inserted into working channel 212 after endoscope probe 250 has been inserted.
  • FIG. 3 schematically shows an endoscope assembly 300 including an endoscope cuff 310, draped around an endoscope probe 350, endoscope cuff 300 having an endoscopic accessory device 340 inserted through a guide member 320 positioned within working channel 312 of cuff 310, according to some embodiments.
  • Endoscopic accessory device 340 includes an elongated shaft 342 having a tissue engagement member 344 at its distal end. Tissue engagement member 344 is configured to encircle gastrointestinal tissue (not shown) when applied there against.
  • accessory device 340 may be configured to be passed through working channel 312 via guide member 320 in its final configuration.
  • tissue engagement member 544 encircles target tissue 580 and causes it to bleb 582 through the hollow center of tissue engagement member 544.
  • a needle 548 may be moved laterally, along the longitudinal axis defined by elongated shaft 542, thereby causing needle 548 to penetrate into blebbed target tissue 582, encircled by tissue engagement member 544 and ink is injected.
  • tissue engagement member 544 may release the tattooed target tissue, as illustrated in FIG. 5D and endoscopic accessory device 500 can be withdrawn through working channel 112, leaving a visible mucosal marking 584.
  • FIG. 6 schematically show an endoscope accessory device 600 for esophageal varix ligation, including an elongated shaft 642, a tissue engagement member 644 and one or more elastic bands 645.
  • Accessory device 600 also includes a suction tube 630 configured to suck tissue encircled by tissue engagement member 644, thereby causing the encircled tissue to be sucked there through.
  • accessory device 600 may further include an expandable compartment (not shown) configured to encompass the tissue suctioned through tissue engagement member 644.
  • an expandable compartment may refer to any compartment which may be expanded, and which upon expansion allows suction to be applied within the compartment without causing its collapse.
  • the method includes inserting an endoscopic accessory device 700 through a working channel of an endoscope or of an endoscopic cuff, which may be essentially identical to endoscopic accessory device 700 described hereinabove, through a working channel (such as working channel 112 optionally via a guide member such as guide member 320) of an endoscopic cuff (which may be essentially similar to endoscope cuff 210 and 310).
  • a working channel such as working channel 112 optionally via a guide member such as guide member 320
  • the method includes expanding an expandable compartment 770, by inflating the wall of the compartment using inflation tube 772.
  • compartment 770 After expansion of compartment 770, suction may be applied within compartment 770 using suction tube 774. As a result, target tissue 780 becomes sucked through the loop of tissue engagement member 742, as illustrated in FIG. 7C.
  • one or more elastic bands 776 may be released around target tissue 780 so as to tie it off and enable ligation of its esophageal varix, as seen in FIG. 7C and FIG. 7D. It is understood that the number of elastic bands released may depend on the anatomy of esophageal varix, clinical outcome, patient and operator related factors etc.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Reproductive Health (AREA)
  • Vascular Medicine (AREA)
  • Endoscopes (AREA)
  • Surgical Instruments (AREA)
PCT/IL2019/050629 2018-06-05 2019-06-03 Endoscope accesory devices Ceased WO2019234734A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US15/734,717 US20210219979A1 (en) 2018-06-05 2019-06-03 Endoscope accessory devices
JP2020567485A JP2021526868A (ja) 2018-06-05 2019-06-03 内視鏡付属装置
EP19815512.9A EP3813686A4 (en) 2018-06-05 2019-06-03 Endoscope accessory devices
CN201990000852.7U CN216365146U (zh) 2018-06-05 2019-06-03 内窥镜辅助装置和内窥镜辅助套件
IL279169A IL279169A (en) 2018-06-05 2020-12-02 Auxiliary devices for the endoscope

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201862680643P 2018-06-05 2018-06-05
US62/680,643 2018-06-05

Publications (1)

Publication Number Publication Date
WO2019234734A1 true WO2019234734A1 (en) 2019-12-12

Family

ID=68769746

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2019/050629 Ceased WO2019234734A1 (en) 2018-06-05 2019-06-03 Endoscope accesory devices

Country Status (6)

Country Link
US (1) US20210219979A1 (https=)
EP (1) EP3813686A4 (https=)
JP (1) JP2021526868A (https=)
CN (1) CN216365146U (https=)
IL (1) IL279169A (https=)
WO (1) WO2019234734A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113017719A (zh) * 2021-03-10 2021-06-25 武汉大学中南医院 多通道支撑平台及其使用方法
US11135398B2 (en) 2018-07-19 2021-10-05 Neptune Medical Inc. Dynamically rigidizing composite medical structures

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12599385B2 (en) * 2022-03-02 2026-04-14 Olympus Medical Systems Corp. Endoscope system and endoscopic ligator attachment method

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US5651788A (en) * 1995-05-17 1997-07-29 C.R. Bard, Inc. Mucosectomy process and device
US20070093855A1 (en) * 2005-10-26 2007-04-26 Rugang Zhang Automaticaly operated endoscopic ligating instrument
EP2023796B1 (en) * 2006-05-16 2010-09-29 Wilson-Cook Medical Inc. Balloon cuff
US20160008000A1 (en) * 2014-07-08 2016-01-14 Weijia Su Curved-Head Hemorrhoid Banding Device
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JP5885506B2 (ja) * 2009-02-17 2016-03-15 ザ ボード オブ トラスティーズ オブ ザ レランド スタンフォード ジュニア ユニバーシティー 縫合装置及び方法

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WO1995032011A1 (en) * 1994-05-25 1995-11-30 Inbae Yoon Expandable multi-functional manipulating instruments
US5651788A (en) * 1995-05-17 1997-07-29 C.R. Bard, Inc. Mucosectomy process and device
US20070093855A1 (en) * 2005-10-26 2007-04-26 Rugang Zhang Automaticaly operated endoscopic ligating instrument
EP2023796B1 (en) * 2006-05-16 2010-09-29 Wilson-Cook Medical Inc. Balloon cuff
US20160008000A1 (en) * 2014-07-08 2016-01-14 Weijia Su Curved-Head Hemorrhoid Banding Device
WO2018104934A1 (en) * 2016-12-05 2018-06-14 Shaare Zedek Scientific Ltd. Endoscopic cuffs

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11135398B2 (en) 2018-07-19 2021-10-05 Neptune Medical Inc. Dynamically rigidizing composite medical structures
CN113017719A (zh) * 2021-03-10 2021-06-25 武汉大学中南医院 多通道支撑平台及其使用方法

Also Published As

Publication number Publication date
IL279169A (en) 2021-01-31
JP2021526868A (ja) 2021-10-11
CN216365146U (zh) 2022-04-26
US20210219979A1 (en) 2021-07-22
EP3813686A1 (en) 2021-05-05
EP3813686A4 (en) 2022-02-23

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