EP3752064A1 - Medical device and method for operating a medical device - Google Patents
Medical device and method for operating a medical deviceInfo
- Publication number
- EP3752064A1 EP3752064A1 EP19714101.3A EP19714101A EP3752064A1 EP 3752064 A1 EP3752064 A1 EP 3752064A1 EP 19714101 A EP19714101 A EP 19714101A EP 3752064 A1 EP3752064 A1 EP 3752064A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- component
- control unit
- medical device
- safety function
- movement
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001419 dependent effect Effects 0.000 claims abstract description 11
- 239000000306 component Substances 0.000 claims description 93
- 230000006870 function Effects 0.000 claims description 38
- 238000001514 detection method Methods 0.000 claims description 18
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 7
- 230000001960 triggered effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001095 motoneuron effect Effects 0.000 description 1
- 229920000136 polysorbate Polymers 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 238000002601 radiography Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0487—Motor-assisted positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/10—Safety means specially adapted therefor
- A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/02—Adjustable operating tables; Controls therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/548—Remote control of the apparatus or devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
- A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
- A61G2203/726—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention for automatic deactivation, e.g. deactivation of actuators or motors
Definitions
- the invention relates to a medical device with at least one movably mounted and motorized verstellba ren component, at least one drive unit for Verstel len of at least one component, at least one of drive unit associated with engine control unit and at least one detection unit for detecting a tion of the posi tion of at least a component dependent Lüparame age.
- the invention further relates to a method for operating such a medical device.
- Medical or medical devices in particular for diagnostics and / or intervention, typically require movement of mechanical axes to properly position, for example, a patient relative to imaging or therapy relevant components, such as an X-ray emitter or detector.
- the positioning of the medical device is done manually by a corresponding force of the user.
- higher-quality versions of these Be movements usually motorized. Motor movements are usually risky. This requires the implementation of security concepts to avoid personal injury.
- the present invention has as its object to improve the injury safety of medical devices with motor-adjustable components.
- a medical facility includes
- At least one drive unit for adjusting the at least one component
- a safety function is integrated in the motor control unit which limits at least one operating parameter associated with the movement to be performed of the at least one component, wherein a device control unit controls the drive unit as a function of the position parameter in accordance with the safety function.
- the basic idea is therefore the realization of a medical device, in which the motor movement of the com ponent is designed to be intrinsically safe.
- the medical device is designed so that the moving component little or no danger.
- the medical device is designed, for example, to automatically support movements, in particular for diagnostics and / or intervention, without human monitoring, or perform them completely autonomously in further development.
- the position parameter which characterizes, for example, the axial positions of a ceiling stand of the medical device
- the position parameter which characterizes, for example, the axial positions of a ceiling stand of the medical device
- a classification of the space areas claimed by the movement takes place in different danger zones.
- Dependent on a limitation or limitation of the component movement associated operating parameter is provided. On the device side, this is implemented by the fact that the safety parameters and functions that limit the operating parameters are integrated in the engine control unit.
- the user of the medical device no longer has to monitor the movements autonomously. This allows to perform other activities to the user as long as the movement is performed as desired. In the long term, this allows for the reduction of personnel costs.
- the position parameter in the sense of this specification includes or includes one or more variables characterizing the position of the at least one movably mounted components in space.
- the position parameter comprises one or more variables which characterize the environment of the at least one movably mounted components in the space. These can be derived in particular from sensory environmental data.
- the safety function limits the at least one operating parameter to a maximum value such that a speed of the component and / or a force exerted on the component and / or an effect on the component torque are not exceeded.
- the device control unit is designed to continuously adjust the call of the safety function and the maximum value associated with the safety function as a function of the position parameter. In other words, there is an adaptation of the safety function and / or the maximum value during the movement of the component, ie in dependence on the respectively temporarily recorded value of the position parameter. In this way, the device control unit is designed to set variable limits or maximum values for the operating parameters, in particular for the speed
- a control logic including the call of the safety function as a function of the position parameter is implemented in a fail-safe program part of the device control unit.
- the fail-safe program part is protected against per se by measures known per se, that a single fault (first fault) can lead to an insecure device state.
- a program part is referred to as fail-safe if the program execution reaches a required safety standard (also: safety integrity level, SIL) or performance standard (also: performance level, PL).
- SIL safety integrity level
- PL performance level
- control units are commercially available which are certified according to the corresponding industrial standards.
- SIMATIC failsafe controllers for example S7-1500-F
- Program parts which do not meet the required safety requirements are referred to as "functional".
- a communication interface between tween the device control unit and engine control unit is formed fail-safe.
- the device control unit, the motor control unit and, thirdly, the communication interface between the device control and the motor control unit contribute.
- a control logic is implemented, which derives the logical link between positional parameters and a Be the movement of the component delimiting limiting parameters.
- the engine control unit controls the drive unit in accordance with the at least one operating parameter der- that the set limiting parameter (s) are maintained during the movement.
- the device control can activate, deactivate or redirect a limiting parameter in the engine control unit.
- the communication interface also fulfills the requirements of first-fault safety or, for example, safety requirements specified in industrial standards, such as SIL or PL.
- the communication interface preferably has fieldbus topology and / or comprises at least one, for example Ethernet-based, field bus.
- the communication interface is designed for topological recognition and configuration of connected Elekt ronikkomponenten. This allows the unique identification of the Elektronikkompo component in vorteilhaf ter way.
- the Ethernet topology ensures that in principle only point-to-point connections are possible.
- a star or tree topology is only possible through the use of additional interfaces, so-called Ethernet switches, which in turn can produce multiple point-to-point connections to the connected subscribers, or in each case two of these connections internally
- each communication path has exactly two subscribers, and the failure or recurrence of a single subscriber can be clearly recognized by each other's subscriber to the point-to-point connection.
- the detection unit comprises a near-field sensor for detecting an approach of the component to an object, in particular to an obstacle or to a person.
- variously configured sensors for the near-field sensors come into question, such as ultrasonic sensors, which are attached to the moving component of medi rule device and recognize an approach to an object.
- the movable component is provided with a capacitive outer skin, which approximates an object. jekt, in particular to a person, can detect.
- the near-field sensor technology comprises one or more optical cameras. The near-field sensor is in such operative connection with the device control unit, for example, that when it approaches the obstacle and / or the person, a safety-related reaction is automatically carried out.
- the safety-related reaction involves a reduction in the speed and / or force and / or torque with which the component is moved, and / or a safety stop.
- Such safety-related reactions of the device control are triggered automatically depending on the situation, for example when the distance to the person and / or the obstacle reaches or falls below a predetermined or specifiable limit value.
- it is provided to trigger different reactions when reaching or falling below the limit values assigned to the respective reaction.
- the near-field sensor for He-making of gestures of the user.
- the near-field sensor system is thus part of a user interface that is designed for gesture recognition and evaluation.
- the detection unit comprises a tactile sensor system for detecting collisions of the component with objects, in particular with obstacles and / or persons.
- the medical device in particular the movably mounted component, for example, a promisingge housing, which comprises a plurality of spring-mounted GeHouseabschnit te.
- the respective housing section approaches the underlying rigid Artificial Sears, wherein the spring is compressed.
- This Relativbewe supply is detectable, for example by means of a switch, in particular microswitch.
- the tactile sensor is in example with the device control unit in a derarti gene operative connection that at a contact or a Kolli- sion of the moving component with the obstacle or the person a safety-related reaction is carried out automatically.
- the safety-related reaction involves a reduction in the speed and / or force and / or torque with which the component is moved, and / or a safety stop.
- the device control unit is thus in this context in particular removablebil det to provide a controlled power assistance for such a manual movement.
- the device control unit is designed for learning motion control routines.
- artificial intelligence is programmed in these exemplary embodiments, which makes it possible to learn, in particular, manually performed movements by the user.
- the device control unit is connected to an input unit for voice control.
- the invention further relates to a method for operating the medical device described above. Advantages associated with this result, inter alia, directly from the previous description with reference to the associated device, so that reference is made to this.
- the at least one component is adjusted by motor, wherein the component adjusting drive unit according to the invention He in accordance with the safety function such angesteu ert that at least one of the movement of the component is limited to ordered operating parameters.
- the safety function is called depending on a position parameter that depends on the position of the component.
- the at least one operating parameter is limited to a maximum value by means of the safety function such that a speed of the component and / or a force exerted on the component and / or a torque acting on the component is not exceeded.
- a situation-dependent reaction when approaching or contacting the component with an object is automatically performed.
- the situation-dependent reaction includes a reduction in the speed and / or force with which the component is moved and / or a safety stop and / or a movement in the opposite direction.
- variable or fixed position limits are implemented in an embodiment.
- the position limits in principle limit a position range in which a motoric movement of the component is permitted.
- the range of motion of individual axis movements of moving parts is limited by mechanical end stops and thus fixed. The range of motion is thus after installation of the device no longer changeable.
- the variable or fixed position limits are predetermined by variable program structures. Due to the first-fault safety of this position limitation ("Safely limited Position”), this realization is equivalent in terms of safety to equivalent mechanical end stops.
- the device control unit is designed to continuously adjust the call of the safety function and the maximum value associated with the safety function as a function of the position parameter. In other words, there is an adaptation of the safety function and / or the maximum value during the movement of the component, ie in dependence on the respectively temporarily recorded value of the position parameter. In this way, the device control unit is designed to variable limits or maximum values for the Be operating parameters, in particular for the speed
- the movement of the at least one component is triggered and / or controlled by voice signals.
- the voice signals are detected, for example, by one or more microphones and transferred to the device control.
- the Ge reste doctorung is adapted to the voice signals to know it and to control movements in accordance with the speech signal, wherein the at least one, the component movement associated operating parameters is adjusted.
- the movement of the at least one component is triggered and / or controlled by detected gestures of the user.
- the gestures are detected, for example, by the near field sensor.
- a camera or multiple cameras for optical detection of Ges th is provided in an embodiment.
- the device control unit is designed in these embodiments for evaluation and detection of the detected by the near-field sensor data such that a control of the movement of the component by gestures it is possible.
- Fig. 1 medical devices with movably mounted
- Fig. 2 a control architecture for the medical
- FIG. 1 shows by way of example a plurality of medical devices 10, 20, 30 which have movably mounted components 11, 21, 31.
- a radiography system is Darge presents.
- the medical device 10 is an X-ray device which has a component 11 embodied as an X-ray source, which is mounted so as to be movable on a ceiling stand 12 in such a way that it can be adjusted with respect to spatial axes X, Y, Z.
- a raster wall device which has a designed as an X-ray detector component 21 which is mounted on a vertical stand 22 so movable that it can be adjusted Z at least along the Rau Z.
- the medical device 30 is a patient table or a patient couch that has a component 31 designed as a positioning device for the patient, which component can be adjusted at least with respect to the spatial axis Z.
- the medical devices 10, 20, 30 are equipped with inhdic th safety properties, the speed depending on the position or position of the respective adjustable compo nents 11, 21, 31 limiting the movement to be performed with respect to at least one operating parameter BP or limitie ren , as shown schematically in Figure 2, corresponding to the respective operating parameters BP limiting safety functions firmly in an engine control unit MSt of the respective medical device 10, 20, 30 inte grated.
- the engine control unit MSt controls a drive unit A, which adjusts the respective component 11, 21, 31 by motor.
- a programmable device control unit GSt is connected to the motor control unit MSt via a communication interface K with safety-related characteristics.
- a detection unit E is further connected to the device control unit GSt and transmits data which at least characterize the position parameter L.
- the device control unit GSt calls the engine control unit MSt with a safety function which in particular satisfies the safety requirements associated with the areas B1 or B2.
- the safety function limits the operating parameter BP, for example a maximum speed, a maximum force and / or a maximum torque with which the component 11, 21, 31 is moved, to a suitable maximum value.
- different security functions can be called for the different areas Bl, B2, who limit the operating parameter BP to different maximum values in each case.
- the device control GSt is programmable, so that the logi rule relationships between the position or position of the component 11, 21, 31 characterizing position parameters L can be flexibly specified.
- the programmable device control unit GSt comprises a functional program part PT1 and a fail-safe program part PT2 in which the security functions are implemented.
- the detection unit E is designed to detect the position or position of the component 11, 21, 31 characterizing the position parameter L. Furthermore, detection of the environment of the respective medical device 10, 20, 30 is preferably carried out.
- the detection unit E comprises in the exemplary embodiment shown a tactile sensor system TS and a near field sensor. Sensor NFS to detect an approach of the component 11, 21, 31 to an object, in particular to the person P.
- the tactile sensor TS is designed to detect the components 11, 21, 31 acting mechanical shocks or forces te. This allows, for example, the detection of collisions of the component 11, 21, 31 with the person P or an object.
- the medical device 10, 20, 30 is designed in an embodiment to detect a user-carried out manual movement of the component 11, 21, 31 in particular sensorless.
- the device control unit GSt is preferably designed to carry a movement of the component 11 detected manually and sensorless or with the aid of the detection unit E, which for this purpose has, for example, a force sensor (not shown).
- the Automateungsein unit GSt is adapted to perform a situation-dependent reaction such as a safety stop or a movement in the opposite direction upon approach, collision or mechanical contact of the component 11, 21, 31 with an object, in particular the person P.
- the device control unit GSt is designed to recognize and evaluate user gestures detected by the near-field sensor system NFS.
- the device control unit GSt is designed for gesture control, i. H.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- High Energy & Nuclear Physics (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Nursing (AREA)
- Manipulator (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018205758.3A DE102018205758A1 (en) | 2018-04-16 | 2018-04-16 | Medical device and method for operating a medical device |
PCT/EP2019/055652 WO2019201506A1 (en) | 2018-04-16 | 2019-03-07 | Medical device and method for operating a medical device |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3752064A1 true EP3752064A1 (en) | 2020-12-23 |
Family
ID=65955160
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19714101.3A Pending EP3752064A1 (en) | 2018-04-16 | 2019-03-07 | Medical device and method for operating a medical device |
Country Status (5)
Country | Link |
---|---|
US (1) | US20210038174A1 (en) |
EP (1) | EP3752064A1 (en) |
CN (1) | CN112040869A (en) |
DE (1) | DE102018205758A1 (en) |
WO (1) | WO2019201506A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016212077A1 (en) * | 2016-07-04 | 2018-01-04 | Siemens Healthcare Gmbh | A method of operating an at least partially autonomously moved mobile medical device and mobile medical device |
DE102020212270A1 (en) | 2020-09-29 | 2022-03-31 | Siemens Healthcare Gmbh | Collision-free X-ray tube movement |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6830375B2 (en) * | 2002-08-30 | 2004-12-14 | Ge Medical Systems Global Technology Company, Inc. | Anti-collision method and apparatus for use with C-arm x-ray machine |
DE102004040059A1 (en) * | 2004-08-18 | 2006-02-23 | Siemens Ag | Method and device for safety-related wireless signal transmission |
CN100463656C (en) * | 2006-04-29 | 2009-02-25 | 东软飞利浦医疗设备***有限责任公司 | X-ray machine body sports limiting and protecting device |
US20080162046A1 (en) * | 2006-10-24 | 2008-07-03 | General Electric Company | Method and system for tracking an arrangement of medical apparatuses |
CN101034071B (en) * | 2006-11-01 | 2010-12-01 | 公安部第一研究所 | System for inspecting hiding objects inside-outside human body by central radiated dual-energy X-ray |
EP2087373B1 (en) * | 2006-11-20 | 2016-03-09 | Koninklijke Philips N.V. | Detector head proximity sensing and collision avoidance |
DE102007018810A1 (en) * | 2007-04-20 | 2008-10-30 | Siemens Ag | Method for motion monitoring in a medical device and associated medical device |
US10820866B2 (en) * | 2009-05-12 | 2020-11-03 | Michael Campagna | Articulating patient positioning apparatus |
US8442738B2 (en) * | 2009-10-12 | 2013-05-14 | Stryker Corporation | Speed control for patient handling device |
DE102012205549A1 (en) * | 2012-04-04 | 2013-10-10 | Siemens Aktiengesellschaft | Method for operating e.g. deadman switch in contactless controlled medical device e.g. C-arm x-ray device, involves detecting response signal by part of user, and operating switch depending on detected response signal |
US9228885B2 (en) * | 2012-06-21 | 2016-01-05 | Hill-Rom Services, Inc. | Patient support systems and methods of use |
WO2014139023A1 (en) * | 2013-03-15 | 2014-09-18 | Synaptive Medical (Barbados) Inc. | Intelligent positioning system and methods therefore |
EP2873403A1 (en) * | 2013-11-18 | 2015-05-20 | Ondal Medical Systems GmbH | Stand device with collision monitor and method for monitoring collisions |
US20170303882A1 (en) * | 2014-10-22 | 2017-10-26 | Carestream Health, Inc. | Mobile radiographic imaging apparatus |
DE102014226899A1 (en) * | 2014-12-23 | 2016-06-23 | Siemens Healthcare Gmbh | A method of operating a medical robotic device and a medical robotic device |
DE102016204618A1 (en) * | 2016-03-21 | 2017-09-21 | Siemens Healthcare Gmbh | Mobile imaging device |
US10537399B2 (en) * | 2016-08-16 | 2020-01-21 | Ethicon Llc | Surgical tool positioning based on sensed parameters |
EP3851050A1 (en) * | 2020-01-16 | 2021-07-21 | Siemens Healthcare GmbH | Mobile platform |
DE102020212270A1 (en) * | 2020-09-29 | 2022-03-31 | Siemens Healthcare Gmbh | Collision-free X-ray tube movement |
-
2018
- 2018-04-16 DE DE102018205758.3A patent/DE102018205758A1/en active Pending
-
2019
- 2019-03-07 US US17/046,025 patent/US20210038174A1/en active Pending
- 2019-03-07 WO PCT/EP2019/055652 patent/WO2019201506A1/en unknown
- 2019-03-07 EP EP19714101.3A patent/EP3752064A1/en active Pending
- 2019-03-07 CN CN201980025998.1A patent/CN112040869A/en active Pending
Also Published As
Publication number | Publication date |
---|---|
WO2019201506A1 (en) | 2019-10-24 |
US20210038174A1 (en) | 2021-02-11 |
CN112040869A (en) | 2020-12-04 |
DE102018205758A1 (en) | 2019-10-17 |
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