CN101938946A - 用于铰接腹腔镜握持仪器的腕部的方法和器械 - Google Patents
用于铰接腹腔镜握持仪器的腕部的方法和器械 Download PDFInfo
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Abstract
一种医疗仪器,具有一组可被铰接的相对的钳夹,位于中心线的左和右。该仪器具有用于钳夹执行件和切刀驱动件的合适的弯曲半径和支撑。用于驱动件的可弯曲支撑包括紧密缠绕的卷簧。本发明的另一实施例控制腹腔镜仪器的手把的铰接度数。本发明的又一实施例包括锁定机构,以在使用者在该装置上实施另外的操作时阻止腕部的运动。该锁定机构还包括一个分度结构,使用者可利用它分度或在当前的角度中选择所需的角度数。
Description
发明背景
技术领域
本发明涉及一种用于腹腔镜过程中的医疗装置。更具体地,本发明涉及一种用于铰接腹腔镜握持仪器的腕部的方法和器械。
背景技术
腹腔镜外科手术,亦称微创外科手术(Minimally Invasive Surgery,MIS)、创可贴外科手术、锁眼外科手术、或针眼外科手术,是一种现代外科手术技术,与传统外科手术过程中所需的大切口相比,其中对腹部的手术通过小的切口进行,通常为0.5~1.5cm。腹腔镜外科手术包括在腹腔或盆腔中的手术,而在胸腔上实施的锁眼手术称胸腔镜外科手术。腹腔镜和胸腔镜外科手术属于内窥镜检查法的大范围。
腹腔镜外科手术的关键要素是使用腹腔镜:一种缩放杆透镜系统,它通常连接到一个视频摄像机(单芯片或三芯片)。还附接有连接到冷光源(卤素灯或氙灯)的光纤线缆系统,以照明手术场,插入一5mm或10mm的插管以观察手术场。腹部通常被吹入二氧化碳气体以形成工作和观察空间。腹部基本上被吹起成一个气球(吹入式),将腹壁像拱顶那样抬起高于内脏。所用气体为CO2,因为它对人体很普通,且如果它通过组织吸收了,能被呼吸系统排出。它还是非易燃的,由于在腹腔镜过程中通常使用电外科手术装置,这一点因此很重要。
在腹腔镜过程中外科手术采用各种不同的工具中的任何一种来实施,这些工具典型地被配置在长轴的一端,并且通过操纵位于该轴的另一端的手把或其它执行器来工作。
腹腔镜外科手术的一个当前感兴趣的领域是电烙术。电烙术亦称电外科手术或电外科学,是用电来破坏组织的过程,被广泛用于现代外科手术。该过程经常被用来阻止被结扎的小脉管和大脉管的出血,或用于切穿软组织,如在剖腹手术中的腹部脂肪或在乳房切除术中的乳房组织。
在腹腔镜过程中使用已有技术的电烙术装置的一个问题是,在腹腔镜过程中,该装置的钳夹所提供的运动范围有限,外科医生在定位该装置时会遇到困难,以及操作该装置通过一个运动范围。
发明内容
本发明提供一种用于铰接腹腔镜握持仪器的腕部的方法和器械。本优选的医疗仪器具有一组可被铰接的相对的钳夹,位于中心线的左和右。本发明还提供了用于钳夹执行件和切刀驱动件的合适的弯曲半径和支撑。在本发明的优选实施例中的用于驱动件的可弯曲的支撑件包括紧密缠绕的卷簧。
本发明的另一实施例包括用以控制腹腔镜仪器的手把上铰接度数的方法。本发明的又一实施例包括锁定机构,以在使用者在该装置上实施其他操作时阻止腕部的运动。该锁定机构还包括一分度结构,使用者可用该分度结构可分度或在预置的角度中选择所需的角度数。
附图说明
图1为示出了根据本发明的腹腔镜握持仪器的腕部的透视图;
图2为示出了根据本发明的腹腔镜握持仪器的腕部的平面图;
图3为示出了根据本发明的腕部铰接控制机构的顶部剖视示意图;
图4为示出了根据本发明的腹腔镜握持仪器的透视示意图;
图5为根据本发明的腹腔镜握持仪器的另一透视图;
图6为用于根据本发明的腹腔镜握持仪器的分度机构的透视示意图;
图7为用于根据本发明的腹腔镜握持仪器的制动机构的透视示意图;
图8为用于根据本发明的腹腔镜握持仪器的制动和分度机构的透视示意图;
图9为用于根据本发明的腹腔镜握持仪器的步进球制动机构的平面示意图;
图10为用于根据本发明的腹腔镜握持仪器的步进球制动机构的透视示意图;
图11为用于根据本发明的腹腔镜握持仪器的步进球制动机构的第二透视示意图;
图12为用于根据本发明的腹腔镜握持仪器的铰接控制的推进式锁定机构的透视示意图;
图13为用于根据本发明的腹腔镜握持仪器的铰接控制的推进式锁定机构的一内视透视示意图;
图14为用于根据本发明的腹腔镜握持仪器的铰接控制的推进式锁定机构的抓握把手的透视示意图;
图15为腹腔镜装置的局部剖视透视图,示出了根据本发明的驱动件;和
图16为用于根据本发明的腹腔镜装置刀片的驱动组件的透视图。
具体实施方式
本发明提供一种用于铰接腹腔镜握持仪器的腕部的方法和器械。本优选的医疗仪器具有一组相对的钳夹,所述钳夹可以以例如45度或其它期望的度数被铰接位于中心线的左和右。本发明还提供了用于钳夹执行件和切刀驱动件的合适的弯曲半径和支撑。本发明优选实施例中的用于驱动件的可弯曲的支撑件包括紧密缠绕的卷簧。
本发明的另一实施例包括一种用以控制腹腔镜仪器的手把的铰接度数的方法。本发明的又一实施例包括一个锁定机构,用以在使用者在该装置上实施其它操作时阻止腕部的运动。该锁定机构还包括分度结构,使用者可利用该分度结构分度或在预置的角度中选择所需的角度数。
本发明的优选实施例包括医疗仪器,优选地用于实施腹腔镜过程,该医疗仪器包括一组可枢轴转动的脊椎,所述脊椎由多个销或通过搭扣配合来相互连接。每个脊椎都适合于相对于一装置轴和钳夹组而枢轴转动,这样能实现左和右的铰接。铰接度数由布置在一装置腕部的两边的导线或线缆来控制。导线然后被顺着轴铺设下来并被张紧连接到处于装置手把的控制机构。导线或线缆用于将力从手把传递到腕部上。
脊椎形成了适当的弯曲半径以允许如导线的力传递件穿过腕部而不扭结该导线。另外,在一个实施例中,紧密缠绕的卷簧被放置于腕部关节中以铺设所述导线。该紧密缠绕的卷簧对导线提供附加的支撑,这样当导线被从近至远方向移动时,它不会屈曲或扭结。
处于手把上的控制机构由一旋转组件组成,该旋转组件接收来自腕部的力传递件。旋转组件被枢轴安装于手把,并且控制机构的形状允许绕枢轴的同心转动,这样导线或线缆的沿轴的、长度方向的运动能够根据枢轴到所述导线或线缆的附接点的距离而被控制。铰接的角度通过力传递件运动的距离来控制,该距离被腕部的几何性质所预定。
有几个实施例包括了本发明的锁定和分度结构:
在第一实施例中,一弹簧钢被形成为在有力施加时会偏移的几何体,如同片簧一样。片簧被放置于一圆形载体中,其中只有片簧的可偏移部分是可接近的且从圆形载体突出。一旋转件具有远离其枢轴区域的圆形部,该旋转件配合在该圆形载体上。一齿形图案也沿该旋转件的圆形部的内径远离。旋转件包括臂,所述臂从其中心体延伸至线缆或导线所附接之处。片状簧突出到齿形图案所形成的缺口中。通过预定齿间距离和导线或线缆的附接点到枢轴点的距离来控制铰接角度。
在第二实施例中,一弹性塞安装在圆形载体中。该弹性塞与齿形图案所产生的缺口相匹配。
在第三实施例中,上述的旋转件不具有从其中心体延伸的臂。一翼件安装在旋转件的顶部。该翼件然后被操纵用来控制绕圆形载体的转动。
在第四实施例中,一活性塑料铰链安装在手把附近。该活性塑料铰链采用装配在外壳体的槽中的V形形状,该外壳体围绕该活性铰链。该V形形状的顶端从每个槽伸出。沿着外壳体的长度方向有一系列的槽。壳体与控制腕部的铰接的线缆和导线相接合。使用者可通过如下方式调节并锁定腕部铰接,该方式是首先下压活性铰链以脱开当前的锁定位置,然后将外壳体从近端位置至远端位置移动或者相反地移动,其随后通过在由槽所设定的不同预定距离中的任何距离上与活性铰链再接合来进行锁定。这些距离决定了腕部铰接的角度。
在第五实施例中,上述的旋转机构绕枢轴自由旋转。当使用者已确定铰接的角度时,按下安装在枢轴顶部的按钮,该按钮锁定腕部角度和旋转机构,由此阻止了旋转机构和腕部的任何进一步的运动。这可以利用楔状设计来完成,该楔状设计被锚定在枢轴销中,该枢轴销在本实施例中为一管。在枢轴销中设计有一单个槽的最小部分。当按钮被压下时,按钮固有的弹性特性从槽中扩展。该扩展的材料利用摩擦来阻止旋转机构的运动。按钮本身由于在顶部的楔形设计而保持在原位。
继前面的讨论,现在结合图1-14提供对本发明的更详细的解释。
图1为根据本发明的腹腔镜装置的第一透视图。图1为一局部视图,示出了钳夹组件25和装置的主轴24,该钳夹组件由上钳夹13和下钳夹11组成。在本发明的该实施例中,上钳夹可绕枢轴点17离开或朝向下钳夹转动,该枢轴点17在本实施例中由销或轴组成。在本发明的另外的实施例中,下钳夹也可以是转动的,但在图1所示的实施例中,下钳夹是固定的。上钳夹的枢转通过将张力传输到一钳夹促动销18而实现,该销18在一促动槽19中可活动。典型地,张力通过一附接到钳夹促动销的线缆来施加。这样,便实现了钳夹的运动。钳夹本身被构造为用于如电烙术和组织切除等腹腔镜过程。由此,如在下钳夹11中所示的那样,提供有远端电极12,嵌入在塑料载体15中。还示出了第二、近端电极15。切割槽14被示出用于在切割手术中接收刀片。刀片在图1中未示出。
在腹腔镜过程中,希望能够将装置的钳夹从左到右进行定位,以获得接近待处理组织的最佳角度。本发明的要点是提供了铰接的腕部22,它由多个铰接盘或脊椎21组成。铰接通过张紧一对以下将要讨论的线缆来实现,并且其终端在图1中示出为导线,该导线被焊接或卷折在位于线缆终端点20处的槽中。另外,图1示出了用于外部轴管的锁或夹紧机构,以将钳夹保持到管上。这通过夹紧槽23示出。
图2为腹腔镜装置的顶视图或俯视图,示出了钳夹25和轴24。具体地,铰接的腕部22被详细示出。在该实施例中,多个脊椎包括内联的可枢转的铰链连接的盘,其中盘21相互铰接并包括一系列的球状突起27,所述球状突起27接合在互补槽28中。钳夹组件25在该实施例中示出了球状突起29,该球状突起29啮合在铰接盘的槽中,并且轴24包括用于接收铰接盘的球状突起的互补槽30。如在图2中所看到的,还示出了线缆31。该线缆是卷盘管鞘组件,在该实施例中,被用于操作钳夹中的刀片。该卷盘组件使得线缆随装置的铰接而弯曲而不会扭绞,如上所讨论的那样。
图3为用于操作铰接关节的促动机构32的局部剖视侧视示意图。图3中,腕部铰接控制器33被示出具有两个用手指执行的刀片,以绕枢轴点35枢转控制器。该枢转动作分别施加到一对控制线缆34a/34b,且也被该对线缆34a/34b牵引,该对线缆34a/34b在本发明的该实施例中是预张紧的镍钛诺(Nitinol)线缆。熟知本技术的人员应该理解可以使用其他的线缆材料。腕部铰接控制器的操作使得一根线缆在钳夹组件25上拉紧,由此引起钳夹组件根据预期向左或向右运动。本发明的要点是提供允许产生这种铰接的铰接盘。在现有技术中,已知可以提供如切口或其它弯曲机构那样的机构。然而,这些机构均承受应力作用,这样时间长了会影响到它们的有效性,且它们留有记忆效果,从而使得存在使它们回到它们的起始位置的倾向,而不是保持在使用该装置的外科医生所期望的位置上。本发明在此避免了装置操作的这两方面的有害效应。
图4为根据本发明的腹腔镜装置的透视图,示出了壳体43,该壳体具有手把44和钳夹促动触发器45,该钳夹促动触发器操作四杆连杆机构或其它类型的连杆机构46以通过主轴24传输张力,并由此操作钳夹如所期望地打开或关闭。在图4中还示出了刀片执行器42,其可拉动刀片通过上面描述的槽。轴转动器41使得轴能绕一轴入口旋转,而腕部铰接控制器33使得腕部机构能被操作。请注意在图4中,腕部铰接控制器包括控制槽40,该控制槽既导引并也包含了腕部铰接控制器33的行程。
图5为本发明另一实施例的透视图,其中轴转动器51被包含在壳体57中。本发明的该实施例还包括刀片执行器52、腕部铰接控制器53、手把54和钳夹促动触发器55。
图6为图5所示的腹腔镜装置的腕部促动控制器的透视示意图。基座部66支撑环突起65,该环突起65又容纳控制器53。张紧的线缆34a/34b被示出具有终端球,所述终端球提供了线缆止动器64a/64b。线缆经由各自的槽63a/63b穿过控制执行器53。分度盘61包括多个制动槽62。板簧61被设置用来与所述制动槽接合以提供止动机构,以通过避免铰接控制器53的运动来保证钳夹处于选定的位置,除非当装置的使用者期望铰接控制器53运动时为例外。
图7为铰接控制器66的基座部的透视示意图,示出了弹簧机构61坐落在环形突起65的凹口70中。
图8为铰接控制器53的透视示意图,详细示出了制动槽62的情形。
图9为发明的可替换实施例,其中铰接控制器93包括形成在制动槽分度盘97中的多个制动槽92。控制器93的操作引起绕枢轴点91的转动,并将步进球95接合到形成在分度环中的多个制动槽92中的一个内。球塞机构94保持对步进球95的偏置。分度控制器93包括一对附接点98a/98b,将在以下对它们详细讨论。
图10为腹腔镜装置中铰接机构用的分度控制机构的透视图。如图10所示,提供有一对槽100a/100b用于接收控制线缆(图中未示出)。
图11为根据本发明的腹腔镜装置中铰接腕部用的控制机构的另一透视图。图11清楚示出了铰接控制器93与分度环97相连接的设置,且具体示出了在一对销98a/98b之间的连接。
图12为本发明的另一实施例,示出了由分度销120组成的分度机构,该分度销接合在槽121中。
图13为一剖视透视图,示出了分度销120包括头部131和多个与锁定块133接合或脱开的扩展部130的。由此,本发明的该实施例包括阻塞锁,其中销120的下压会阻塞销的扩展部130进入锁定块133,并因此防止了执行控制机构的转动。
图14为阻塞机构的详细视图,详细示出了销120、头部131以及扩展件130。
图15为腹腔镜装置的透视、局部剖视图,示出了根据本发明的驱动件。该驱动件可用一圆导线(不锈钢或镍钛诺)制成,采用紧密缠绕的卷簧用于支撑。驱动件也可是扁平的不锈钢带150,如图15和16所示。图15示出了装置的腕部部分,而图16仅示出了感兴趣的组件,即钳夹促动带150、关闭销160以及切割刀片161。该实施例用扁平带替换圆导线,且利用脊椎的内部结构来支撑这些带。其它的实施例可以使用扁平的聚合物带来提供额外的支撑。这些带可以是PTFE或FEP。支撑结构也可涉及在刀片和/或钳夹执行带上的PTFE塑料或FEP收缩管。
尽管在这里参考优选实施例来叙述本发明,熟悉本领域的技术人员将会容易理解,在不偏离本发明的精神和范围的前提下可以有其他应用来替代此处提出的那些。由此,本发明应该仅由以下包括的权利要求所限制。
Claims (22)
1.一种腹腔镜握持仪器,包括:
长型的轴,具有一组与其远端相连的相对钳夹和与其近端相连的手把;
铰接腕部,位于所述轴和所述钳夹组之间,用于根据期望实施所述钳夹相对于所述轴的在中心线的左和右两方向的运动,所述铰接腕部包括:
执行器,与所述手把相连;
至少一个力传递件,用于将使用者对所述执行器的操作转换成所述钳夹的运动以控制所述仪器的铰接角度;以及
铰接腕部,包括一组相互相连的枢轴脊椎,其中,每个脊椎都适合于相对于所述轴和所述钳夹组中的任何一个从中心线向左和向右枢转。
2.如权利要求1所述的仪器,还包括:
钳夹执行件。
3.如权利要求1所述的仪器,还包括:
切刀;和
切刀驱动件。
4.如权利要求1所述的仪器,还包括:
可弯曲的支撑件,用于所述力传递件,包括置于所述腕部关节中以铺设所述驱动件的紧密缠绕的卷簧。
5.如权利要求1所述的仪器,还包括:
锁定机构,用于在所述使用者在所述仪器上进行其他操作时防止所述铰接腕部的运动。
6.如权利要求5所述的仪器,所述锁定机构还包括:
分度机构,所述使用者可利用该分度机构分度并在预置的角度中选择所需的钳夹角度数。
7.如权利要求1所述的仪器,所述力传递件包括:
一个或多个导线或线缆,沿铰接腕部的两侧铺设下来,用于将力从所述执行器传递到所述腕部。
8.如权利要求1所述的仪器,所述执行器包括:
旋转组件,从所述腕部接收所述一个或多个力传递件;
其中,所述旋转组件被安装成绕所述手把上的一枢轴点旋转;
其中,所述执行器被构造成绕所述枢轴点同心旋转;
其中,所述一个或多个力传递件沿所述轴的长度方向的运动根据从所述枢轴点到所述一个或多个力传动件的附接点之间的距离来控制。
9.如权利要求8所述的仪器,其中:铰接的角度通过所述一个或多个力传递件运动的距离来控制,该距离由所述腕部的几何性质所预定。
10.如权利要求5所述的仪器,所述锁定机构还包括:
弹簧,具有在当力施加于其上时发生偏移的形状;
其中所述弹簧置于一圆形载体中;以及
其中只有所述弹簧的可偏移部分是可以接触到的且突出于所述圆形载体;
旋转件,具有远离一枢轴区域的圆形部;
其中所述旋转件适合于配合在所述圆形载体之上;以及
齿形图案,沿所述旋转件的所述圆形部的内径远离;
所述旋转件包括从其中心体伸展的臂,所述一个或多个力传递件附接到该中心体;
其中所述弹簧突出进入由所述齿形图案所形成的缺口中;以及
其中所述腕部的铰接角度通过预定所述齿之间的距离和从所述一个或多个力传递件的附接点到枢轴点的距离来进行控制。
11.如权利要求5所述的仪器,所述锁定机构还包括:
弹簧偏置的球塞,安装在一圆形载体中;
旋转件,具有远离一枢轴区域的圆形部;
其中所述旋转件适合于配合在所述圆形载体之上;以及
齿形图案,该齿形图案沿所述旋转件的所述圆形部的内径远离;
其中所述弹簧塞与所述齿形图案所形成的缺口相匹配。
12.如权利要求5所述的仪器,所述锁定机构还包括:
翼件,安装在一旋转件的顶部;
其中所述翼件适合于被操纵用来控制所述旋转件绕一圆形载体的转动。
13.如权利要求5所述的仪器,所述锁定机构还包括:
活性铰链,安装在所述手把附近,所述活性铰链具有V形形状部,适合于配合在围绕所述活性铰链的外壳体的一系列的槽中,所述V形形状部具有突出于所述系列的槽外的尖端;
其中所述系列的槽沿所述外壳体的长度设置;
其中所述壳体与所述至少一个力传动件相接合;
其中所述铰接腕部适合于通过以下方式被调节和锁定,所述方式为首先压下所述活性铰链以脱开当前的锁定位置,然后从近端位置到远端位置或相反地移动所述外壳体,其然后通过在由所述系列的槽所设定的不同预定距离中的任何距离上与所述活性铰链再接合来进行锁定,其中所述距离决定了所述腕部铰接的角度。
14.如权利要求5所述的仪器,所述锁定机构还包括:
旋转件,绕一枢轴销自由旋转;
楔状、管形的按钮,安装在所述枢轴销的顶部,且锚定在所述枢轴销内,所述按钮适合于够被压进所述枢轴销中,其中所述按钮的一部分通过形成在所述枢轴销中的槽扩展,以将所述腕部的角度和所述旋转件锁定到使用者决定的铰接角度。
15.如权利要求1所述的仪器,所述钳夹组还包括:
至少一组电极,用于接收电荷并在腹腔镜过程中将所述电荷传给器官或组织。
16.如权利要求1所述的仪器,每个所述脊椎包括:
球状突起和互补槽;
其中一个脊椎的球状突起适合于接合在相邻脊椎的互补槽中。
17.如权利要求1所述的仪器,每个所述脊椎包括:
可转动的铰链连接的盘。
18.如权利要求1所述的仪器,还包括仪器驱动件,该仪器驱动件响应所选择的使用者对仪器的促动来实施所选择的仪器操作。
19.如权利要求18所述的仪器,所述驱动件包括被紧密缠绕的卷簧所支撑的圆导线。
20.如权利要求19所述的仪器,所述圆导线包括不锈钢或镍钛诺。
21.如权利要求18所述的仪器,所述驱动件包括扁平带。
22.如权利要求18所述的仪器,所述仪器操作包括一刀片的运动。
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-
2008
- 2008-02-06 US US12/027,231 patent/US20090198272A1/en not_active Abandoned
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2009
- 2009-02-06 WO PCT/US2009/033443 patent/WO2009100366A2/en active Application Filing
- 2009-02-06 CN CN2013102718322A patent/CN103405262A/zh active Pending
- 2009-02-06 AU AU2009212240A patent/AU2009212240B2/en not_active Ceased
- 2009-02-06 EP EP09707446.2A patent/EP2240095B1/en active Active
- 2009-02-06 KR KR1020107017567A patent/KR101610974B1/ko active IP Right Grant
- 2009-02-06 BR BRPI0908061A patent/BRPI0908061B8/pt active IP Right Grant
- 2009-02-06 ES ES09707446.2T patent/ES2553338T3/es active Active
- 2009-02-06 CA CA2713983A patent/CA2713983C/en not_active Expired - Fee Related
- 2009-02-06 CN CN200980104230XA patent/CN101938946B/zh active Active
- 2009-02-06 JP JP2010546064A patent/JP5704926B2/ja active Active
- 2009-02-06 MX MX2010008634A patent/MX2010008634A/es active IP Right Grant
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CN103429184A (zh) * | 2011-03-23 | 2013-12-04 | 蛇牌股份公司 | 具有可稳定铰接致动器的可铰接的电外科器械 |
CN103429184B (zh) * | 2011-03-23 | 2016-08-17 | 蛇牌股份公司 | 具有可稳定铰接致动器的可铰接的电外科器械 |
CN104797201A (zh) * | 2012-06-07 | 2015-07-22 | 美的洛博迪克斯公司 | 铰接式外科器械及其使用方法 |
CN104797201B (zh) * | 2012-06-07 | 2019-04-12 | 美的洛博迪克斯公司 | 铰接式外科器械及其使用方法 |
CN105101884A (zh) * | 2013-02-28 | 2015-11-25 | 伊西康内外科公司 | 带有具有一对止动弹簧的关节运动锁的外科器械 |
CN105992567A (zh) * | 2014-02-12 | 2016-10-05 | 奥林巴斯株式会社 | 处理器具 |
CN105992567B (zh) * | 2014-02-12 | 2019-06-28 | 奥林巴斯株式会社 | 处理器具 |
CN107530069A (zh) * | 2015-03-12 | 2018-01-02 | Thd股份公司 | 超弹性铰接机构 |
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CN109414294B (zh) * | 2016-07-01 | 2021-10-26 | 伊西康内外科有限责任公司 | 用于初始化外科工具的方法、系统和装置 |
Also Published As
Publication number | Publication date |
---|---|
CN101938946B (zh) | 2013-07-24 |
EP2240095B1 (en) | 2015-09-30 |
CA2713983C (en) | 2014-08-05 |
KR101610974B1 (ko) | 2016-04-20 |
EP2240095A4 (en) | 2012-11-07 |
WO2009100366A3 (en) | 2009-11-12 |
CN103405262A (zh) | 2013-11-27 |
JP5704926B2 (ja) | 2015-04-22 |
CA2713983A1 (en) | 2009-08-13 |
US20090198272A1 (en) | 2009-08-06 |
ES2553338T3 (es) | 2015-12-07 |
EP2240095A2 (en) | 2010-10-20 |
WO2009100366A2 (en) | 2009-08-13 |
MX2010008634A (es) | 2010-12-02 |
KR20100118573A (ko) | 2010-11-05 |
BRPI0908061A2 (pt) | 2015-08-11 |
AU2009212240A1 (en) | 2009-08-13 |
AU2009212240B2 (en) | 2014-04-17 |
JP2011510800A (ja) | 2011-04-07 |
BRPI0908061B1 (pt) | 2019-07-16 |
BRPI0908061B8 (pt) | 2021-06-22 |
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