JP6397573B2 - Rf漏れ電流を低減する指スイッチ回路 - Google Patents
Rf漏れ電流を低減する指スイッチ回路 Download PDFInfo
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- JP6397573B2 JP6397573B2 JP2017523345A JP2017523345A JP6397573B2 JP 6397573 B2 JP6397573 B2 JP 6397573B2 JP 2017523345 A JP2017523345 A JP 2017523345A JP 2017523345 A JP2017523345 A JP 2017523345A JP 6397573 B2 JP6397573 B2 JP 6397573B2
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
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- H03K3/00—Circuits for generating electric pulses; Monostable, bistable or multistable circuits
- H03K3/01—Details
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- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
- A61B18/1233—Generators therefor with circuits for assuring patient safety
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- G01R15/14—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks
- G01R15/18—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using inductive devices, e.g. transformers
- G01R15/183—Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using inductive devices, e.g. transformers using transformers with a magnetic core
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
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- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- A—HUMAN NECESSITIES
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00642—Sensing and controlling the application of energy with feedback, i.e. closed loop control
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00642—Sensing and controlling the application of energy with feedback, i.e. closed loop control
- A61B2018/00648—Sensing and controlling the application of energy with feedback, i.e. closed loop control using more than one sensed parameter
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/00702—Power or energy
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
- A61B2018/00827—Current
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
- A61B2018/00875—Resistance or impedance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
- A61B2018/00892—Voltage
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
- A61B2018/124—Generators therefor switching the output to different electrodes, e.g. sequentially
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
- A61B2018/1246—Generators therefor characterised by the output polarity
- A61B2018/1253—Generators therefor characterised by the output polarity monopolar
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
- A61B2018/1246—Generators therefor characterised by the output polarity
- A61B2018/126—Generators therefor characterised by the output polarity bipolar
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
- A61B2018/1286—Generators therefor having a specific transformer
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Description
業者が理解すると考えられる。加えて、それに反する記載がない限り、すべての添付図面
が一定の縮尺であるとは限らないことに注意が必要である。後述の請求項によってのみ限
定される本発明の範囲と趣旨とから逸脱することなく、上記の教示を考慮に入れて種々の
変更と変形とが可能である。
[形態1]
電気手術エネルギーを生成するように構成された無線周波生成器を備え、前記無線周波生成器が、検出回路を含み、前記検出回路が、
抵抗ラダーと、
前記抵抗ラダーと電気的に通信する絶縁変圧器と、
を含み、
前記検出回路が、前記絶縁変圧器にまたがるインピーダンスの変化を検出することと、インピーダンスの前記変化を複数の所定のエネルギー閾値の1つと相関させることとをするように構成される、
電気手術装置。
[形態2]
形態1に記載の電気手術装置において、
前記検出回路が、複数の指スイッチ導体を含み、前記抵抗ラダーにおける各抵抗器が、前記複数の指スイッチ導体の対応する1つに電気的に結合された負荷抵抗器である、
電気手術装置。
[形態3]
形態2に記載の電気手術装置において、
前記抵抗ラダーにおける各前記抵抗器が、前記抵抗ラダーにおける他のすべての抵抗器と異なる抵抗値をもつ、
電気手術装置。
[形態4]
形態1に記載の電気手術装置において、
前記検出回路が、第1の周波数における無線周波エネルギーを生成するように構成された第1の無線周波発振器をさらに含み、
前記無線周波生成器が、前記第1の周波数より大きな第2の周波数における無線周波エネルギーを生成するように構成された第2の無線周波発振器を含む、
電気手術装置。
[形態5]
形態4に記載の電気手術装置において、
前記第1の無線周波発振器が、前記絶縁変圧器と電気的に通信する、
電気手術装置。
[形態6]
形態5に記載の電気手術装置において、
前記検出回路が、前記第1の無線周波発振器と前記絶縁変圧器との間に配置された電流検出抵抗器を含み、前記電流検出抵抗器が、前記絶縁変圧器にまたがる電流の変化を測定するように構成された、
電気手術装置。
[形態7]
形態6に記載の電気手術装置において、
前記電流検出抵抗器が、差動増幅器と通信する、
電気手術装置。
[形態8]
形態7に記載の電気手術装置において、
前記差動増幅器が、サレンキーフィルタと通信する、
電気手術装置。
[形態9]
形態1に記載の電気手術装置において、
前記複数の所定のエネルギー閾値が、少なくとも4つの所定のエネルギー閾値を含み、
前記4つの所定のエネルギー閾値の各々が、12ビットのADC値を含む、
電気手術装置。
[形態10]
形態1に記載の電気手術装置において、
前記抵抗ラダーが、3つの抵抗器を含む、
電気手術装置。
[形態11]
電気手術エネルギーを生成するように構成された無線周波生成器を備え、前記無線周波生成器が、検出回路を含み、前記検出回路が、
複数の指スイッチ導体であって、前記複数の指スイッチ導体の各々が、電気手術手持ち部における対応する指スイッチと電気的に通信するように構成され、各前記指スイッチが、開位置と閉位置とを含み、前記複数の指スイッチ導体の各々が、少なくとも1つの抵抗器を含み、前記複数の指スイッチ導体の各々における前記少なくとも1つの抵抗器が、
集合的に抵抗ラダーを構成する、前記複数の指スイッチ導体と、
前記複数の指スイッチ導体と前記抵抗ラダーと電気的に通信する絶縁変圧器と、
を含み、
前記検出回路が、前記対応する指スイッチのいずれか1つが前記閉位置に配置されたときに、前記絶縁変圧器にまたがるインピーダンスの変化を検出するように構成された、
電気手術装置。
[形態12]
形態11に記載の電気手術装置において、
前記検出回路が、インピーダンスの前記変化を複数の所定のエネルギー閾値の1つと相関させるようにさらに構成された、
電気手術装置。
[形態13]
形態11に記載の電気手術装置において、
前記電気手術手持ち部が、3つの指スイッチを含み、
前記3つの指スイッチのうちの第1の指スイッチが、組織を切除するように構成された無線周波波形を伝達することを前記電気手術生成器に通知するように構成され、
前記3つの指スイッチのうちの第2の指スイッチが、組織を凝固させるように構成された無線周波波形を伝達することを前記電気手術生成器に通知するように構成され、
前記3つの指スイッチのうちの第3の指スイッチが、組織を凝固させるように構成された無線周波波形を伝達することと、生理食塩水の伝達を開始することとを前記電気手術生成器に通知するように構成された、
電気手術装置。
[形態14]
形態11に記載の電気手術装置において、
前記抵抗ラダーにおける各前記抵抗器が、対応する指スイッチ導体に電気的に結合された負荷抵抗器である、
電気手術装置。
[形態15]
形態14に記載の電気手術装置において、
前記抵抗ラダーにおける各前記抵抗器が、前記抵抗ラダーにおける他のすべての抵抗器と異なる抵抗値をもつ、
電気手術装置。
[形態16]
形態11に記載の電気手術装置において、
前記検出回路が、第1の周波数における無線周波エネルギーを生成するように構成された第1の無線周波発振器をさらに含み、前記無線周波生成器が、前記第1の周波数より大きな第2の周波数における無線周波エネルギーを生成するように構成された第2の無線周波発振器を含む、
電気手術装置。
[形態17]
形態16に記載の電気手術装置において、
前記第1の無線周波発振器が、前記絶縁変圧器と電気的に通信する、
電気手術装置。
[形態18]
形態17に記載の電気手術装置において、
前記検出回路が、前記第1の無線周波発振器と前記絶縁変圧器との間に配置された電流検出抵抗器を含み、前記電流検出抵抗器が、前記絶縁変圧器にまたがる電流の変化を測定するように構成された、
電気手術装置。
[形態19]
形態18に記載の電気手術装置において、
前記電流検出抵抗器が、差動増幅器と通信する、
電気手術装置。
[形態20]
形態12に記載の電気手術装置において、
前記複数の所定のエネルギー閾値が、少なくとも4つの所定のエネルギー閾値を含み、
前記4つの所定のエネルギー閾値の各々が、12ビットのADC値を含む、
電気手術装置。
[形態21]
電気手術エネルギーを生成するように構成された無線周波生成器を備え、前記無線周波生成器が、検出回路を含み、前記検出回路が、
3つの指スイッチ導体であって、前記3つの指スイッチ導体の各々が、電気手術手持ち部における対応する指スイッチと電気的に通信するように構成され、各前記指スイッチが、開位置と閉位置とを含み、前記3つの指スイッチ導体の各々が、少なくとも1つの負荷抵抗器を含み、前記複数の指スイッチ導体の各々における前記少なくとも1つの負荷抵抗器が、集合的に抵抗ラダーを構成し、他のすべての負荷抵抗器とは異なる抵抗値をもつ、前記3つの指スイッチ導体と、
前記3つの指スイッチ導体と前記抵抗ラダーと電気的に通信する絶縁変圧器と、
第1の周波数における無線周波エネルギーを生成するように構成された第1の無線周波発振器であって、前記無線周波生成器が、前記第1の周波数より大きな第2の周波数における無線周波エネルギーを生成するように構成された第2の無線周波発振器を含む、前記第1の無線周波発振器と、
前記第1の無線周波発振器と前記絶縁変圧器との間に配置された電流検出抵抗器であって、前記電流検出抵抗器が、前記絶縁変圧器にまたがる電流の変化を測定するように構成された、前記電流検出抵抗器と、
前記電流検出抵抗器と通信する差動増幅器と、
前記差動増幅器と通信するサレンキーフィルタと、
を含み、
前記検出回路が、前記対応する指スイッチのいずれか1つが前記閉位置に配置されたときに前記絶縁変圧器にまたがるインピーダンスの変化を検出することと、前記インピーダンスの変化を複数の所定のエネルギー閾値の1つと相関させることとをするように構成され、前記複数の所定のエネルギー閾値が、少なくとも4つの所定のエネルギー閾値を含み、前記4つの所定のエネルギー閾値の各々が、12ビットのADC値を含む、
電気手術装置。
Claims (19)
- 電気手術エネルギーを生成するように構成された無線周波生成器を備え、前記無線周波生成器が、検出回路を含み、前記検出回路が、
抵抗ラダーと、
前記抵抗ラダーと電気的に通信する絶縁変圧器と、
を含み、
前記検出回路が、前記絶縁変圧器にまたがるインピーダンスの変化を検出することと、インピーダンスの前記変化を複数の所定のエネルギー閾値の1つと相関させることとをするように構成され、
前記検出回路が、第1の周波数における無線周波エネルギーを生成するように構成された第1の無線周波発振器をさらに含み、
前記無線周波生成器が、前記第1の周波数より大きな第2の周波数における無線周波エネルギーを生成するように構成された第2の無線周波発振器を含む、
電気手術装置。 - 請求項1に記載の電気手術装置において、
前記検出回路が、複数の指スイッチ導体を含み、前記抵抗ラダーにおける各抵抗器が、前記複数の指スイッチ導体の対応する1つに電気的に結合された負荷抵抗器である、
電気手術装置。 - 請求項2に記載の電気手術装置において、
前記抵抗ラダーにおける各前記抵抗器が、前記抵抗ラダーにおける他のすべての抵抗器と異なる抵抗値をもつ、
電気手術装置。 - 請求項1に記載の電気手術装置において、
前記第1の無線周波発振器が、前記絶縁変圧器と電気的に通信する、
電気手術装置。 - 請求項4に記載の電気手術装置において、
前記検出回路が、前記第1の無線周波発振器と前記絶縁変圧器との間に配置された電流検出抵抗器を含み、前記電流検出抵抗器が、前記絶縁変圧器にまたがる電流の変化を測定するように構成された、
電気手術装置。 - 請求項5に記載の電気手術装置において、
前記電流検出抵抗器が、差動増幅器と通信する、
電気手術装置。 - 請求項6に記載の電気手術装置において、
前記差動増幅器が、サレンキーフィルタと通信する、
電気手術装置。 - 請求項1に記載の電気手術装置において、
前記複数の所定のエネルギー閾値が、少なくとも4つの所定のエネルギー閾値を含み、
前記4つの所定のエネルギー閾値の各々が、12ビットのADC値を含む、
電気手術装置。 - 請求項1に記載の電気手術装置において、
前記抵抗ラダーが、3つの抵抗器を含む、
電気手術装置。 - 電気手術エネルギーを生成するように構成された無線周波生成器を備え、前記無線周波生成器が、検出回路を含み、前記検出回路が、
複数の指スイッチ導体であって、前記複数の指スイッチ導体の各々が、電気手術手持ち部における対応する指スイッチと電気的に通信するように構成され、各前記指スイッチが、開位置と閉位置とを含み、前記複数の指スイッチ導体の各々が、少なくとも1つの抵抗器を含み、前記複数の指スイッチ導体の各々における前記少なくとも1つの抵抗器が、
集合的に抵抗ラダーを構成する、前記複数の指スイッチ導体と、
前記複数の指スイッチ導体と前記抵抗ラダーと電気的に通信する絶縁変圧器と、
を含み、
前記検出回路が、前記対応する指スイッチのいずれか1つが前記閉位置に配置されたときに、前記絶縁変圧器にまたがるインピーダンスの変化を検出するように構成され、
前記電気手術手持ち部が、3つの指スイッチを含み、
前記3つの指スイッチのうちの第1の指スイッチが、組織を切除するように構成された無線周波波形を伝達することを前記電気手術生成器に通知するように構成され、
前記3つの指スイッチのうちの第2の指スイッチが、組織を凝固させるように構成された無線周波波形を伝達することを前記電気手術生成器に通知するように構成され、
前記3つの指スイッチのうちの第3の指スイッチが、組織を凝固させるように構成された無線周波波形を伝達することと、生理食塩水の伝達を開始することとを前記電気手術生成器に通知するように構成された、
電気手術装置。 - 請求項10に記載の電気手術装置において、
前記検出回路が、インピーダンスの前記変化を複数の所定のエネルギー閾値の1つと相関させるようにさらに構成された、
電気手術装置。 - 請求項10に記載の電気手術装置において、
前記抵抗ラダーにおける各前記抵抗器が、対応する指スイッチ導体に電気的に結合された負荷抵抗器である、
電気手術装置。 - 請求項12に記載の電気手術装置において、
前記抵抗ラダーにおける各前記抵抗器が、前記抵抗ラダーにおける他のすべての抵抗器と異なる抵抗値をもつ、
電気手術装置。 - 請求項10に記載の電気手術装置において、
前記検出回路が、第1の周波数における無線周波エネルギーを生成するように構成された第1の無線周波発振器をさらに含み、前記無線周波生成器が、前記第1の周波数より大きな第2の周波数における無線周波エネルギーを生成するように構成された第2の無線周波発振器を含む、
電気手術装置。 - 請求項14に記載の電気手術装置において、
前記第1の無線周波発振器が、前記絶縁変圧器と電気的に通信する、
電気手術装置。 - 請求項15に記載の電気手術装置において、
前記検出回路が、前記第1の無線周波発振器と前記絶縁変圧器との間に配置された電流検出抵抗器を含み、前記電流検出抵抗器が、前記絶縁変圧器にまたがる電流の変化を測定するように構成された、
電気手術装置。 - 請求項16に記載の電気手術装置において、
前記電流検出抵抗器が、差動増幅器と通信する、
電気手術装置。 - 請求項11に記載の電気手術装置において、
前記複数の所定のエネルギー閾値が、少なくとも4つの所定のエネルギー閾値を含み、
前記4つの所定のエネルギー閾値の各々が、12ビットのADC値を含む、
電気手術装置。 - 電気手術エネルギーを生成するように構成された無線周波生成器を備え、前記無線周波生成器が、検出回路を含み、前記検出回路が、
3つの指スイッチ導体であって、前記3つの指スイッチ導体の各々が、電気手術手持ち部における対応する指スイッチと電気的に通信するように構成され、各前記指スイッチが、開位置と閉位置とを含み、前記3つの指スイッチ導体の各々が、少なくとも1つの負荷抵抗器を含み、前記複数の指スイッチ導体の各々における前記少なくとも1つの負荷抵抗器が、集合的に抵抗ラダーを構成し、他のすべての負荷抵抗器とは異なる抵抗値をもつ、前記3つの指スイッチ導体と、
前記3つの指スイッチ導体と前記抵抗ラダーと電気的に通信する絶縁変圧器と、
第1の周波数における無線周波エネルギーを生成するように構成された第1の無線周波発振器であって、前記無線周波生成器が、前記第1の周波数より大きな第2の周波数における無線周波エネルギーを生成するように構成された第2の無線周波発振器を含む、前記第1の無線周波発振器と、
前記第1の無線周波発振器と前記絶縁変圧器との間に配置された電流検出抵抗器であって、前記電流検出抵抗器が、前記絶縁変圧器にまたがる電流の変化を測定するように構成された、前記電流検出抵抗器と、
前記電流検出抵抗器と通信する差動増幅器と、
前記差動増幅器と通信するサレンキーフィルタと、
を含み、
前記検出回路が、前記対応する指スイッチのいずれか1つが前記閉位置に配置されたときに前記絶縁変圧器にまたがるインピーダンスの変化を検出することと、前記インピーダンスの変化を複数の所定のエネルギー閾値の1つと相関させることとをするように構成され、前記複数の所定のエネルギー閾値が、少なくとも4つの所定のエネルギー閾値を含み、前記4つの所定のエネルギー閾値の各々が、12ビットのADC値を含む、
電気手術装置。
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US20190298433A1 (en) | 2019-10-03 |
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JP2017533029A (ja) | 2017-11-09 |
CN107112981B (zh) | 2021-02-26 |
CN107106228A (zh) | 2017-08-29 |
CN111317560A (zh) | 2020-06-23 |
US20220331000A1 (en) | 2022-10-20 |
CN111317560B (zh) | 2023-09-22 |
US10524851B2 (en) | 2020-01-07 |
US20160120591A1 (en) | 2016-05-05 |
EP3212102B1 (en) | 2024-01-24 |
JP2017536170A (ja) | 2017-12-07 |
EP3212102A1 (en) | 2017-09-06 |
US10363086B2 (en) | 2019-07-30 |
US20160120589A1 (en) | 2016-05-05 |
CN107112981A (zh) | 2017-08-29 |
WO2016070009A1 (en) | 2016-05-06 |
EP3212100B1 (en) | 2022-06-29 |
US11399885B2 (en) | 2022-08-02 |
JP6481029B2 (ja) | 2019-03-13 |
EP3212100A1 (en) | 2017-09-06 |
US20190350638A1 (en) | 2019-11-21 |
US10405915B2 (en) | 2019-09-10 |
CN107106228B (zh) | 2020-05-05 |
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