CN114202627B - Spherical wave imaging method - Google Patents
Spherical wave imaging method Download PDFInfo
- Publication number
- CN114202627B CN114202627B CN202111488931.7A CN202111488931A CN114202627B CN 114202627 B CN114202627 B CN 114202627B CN 202111488931 A CN202111488931 A CN 202111488931A CN 114202627 B CN114202627 B CN 114202627B
- Authority
- CN
- China
- Prior art keywords
- imaging
- target point
- imaging target
- spherical wave
- value
- 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.)
- Active
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/10—Selection of transformation methods according to the characteristics of the input images
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- Computer Graphics (AREA)
- Software Systems (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Image Processing (AREA)
Abstract
The invention relates to a spherical wave imaging method, which comprises the following steps: step 1, spherical waves are generated through an excitation unit, and original signals are collected through a receiving unit; step 2, setting an imaging area according to an imaging target, and dividing the imaging area into a plurality of imaging target points; step 3, calculating an imaging value of a single receiving unit in imaging a target point; step 4, calculating an imaging value of the imaging target point; and 5, traversing the imaging target point to finish spherical wave imaging of the whole imaging area. The spherical wave imaging method is suitable for various detection methods of sound waves, ultrasonic waves and microwaves, adopts the excitation unit to emit spherical waves once to cover the whole imaging area, has high imaging coverage rate, and can meet the requirements of high-coverage rate imaging in the fields of brain medical imaging, security inspection and the like.
Description
Technical Field
The invention relates to the technical field of detection and imaging, in particular to a spherical wave imaging method.
Background
The plane wave imaging (PLANE WAVE IMAGING, PWI) is widely applied to the medical or nondestructive testing field by emitting plane waves once to cover the whole imaging area and realizing high-resolution imaging by time delay superposition of received data. In 2009, montaldo et al have also proposed compound plane wave imaging for improving the contrast and resolution of images.
However, for application fields such as medical imaging of human brain and security inspection, spherical array excitation and detection are often adopted, and the emitted wave front is similar to spherical wave. At present, a high-resolution imaging algorithm similar to plane wave imaging aiming at the excitation detection mode does not exist.
Disclosure of Invention
In order to solve the technical problems, the invention provides a universal spherical wave imaging algorithm, which can realize high-resolution imaging by exciting spherical waves once to cover the whole imaging area.
A spherical wave imaging method comprises the following specific implementation steps as shown in figure 1:
step 1, spherical waves are generated through an excitation unit, and original signals are acquired through a receiving unit:
the spherical waves are synchronously excited by a spherical array excitation unit or are generated by a phased array excitation unit by utilizing a beam forming technology;
The excitation wavefront in spherical wave imaging may be a complete sphere or an irregular shape within a sphere, so long as the wave propagation can cover the entire imaging area;
The propagation direction of the wave fronts in spherical wave imaging may be inward or outward. The wavefront propagates inwardly to suit the imaging region inside the initial wavefront; the wave front propagates outwards to adapt to the condition that the imaging area is outside the initial wave front;
the receiving unit is multiplexed with the exciting unit or separated from the exciting unit and arranged according to imaging requirements.
Step 2, setting an imaging area according to an imaging target, and dividing the imaging area into a plurality of imaging target points:
Dividing the imaging area into a plurality of three-dimensional grids or two-dimensional grids according to the dimension of the imaging area, wherein the grid size is smaller than or equal to the imaging resolution requirement; the three-dimensional grid is called a voxel, the two-dimensional grid is called a pixel, the present invention is collectively referred to as imaging target points.
Step 3, calculating imaging values of the single receiving unit in imaging the target point:
the imaging region is any body or surface within the propagation range of the spherical wave, the propagation time of the spherical wave reaching the receiving unit after scattering is calculated by the formula (1),
Wherein the imaging region is split into M imaging target points, (x j,yj,zj) representing coordinates of the j-th imaging target point, j=1, …, M; n receiving units are taken together, (X i,Yi,Zi) represents the coordinates of the i-th receiving unit, i=1, …, N; r represents the radius of the initial wavefront of the spherical wave, c is the wave velocity, and t ij represents the propagation time required for the spherical wave to reach the ith receiving unit through scattering by the jth imaging target point;
Assuming that the original signal s i (t) acquired by the ith receiving unit is s i(tij as the imaging value of the jth imaging target point, obtaining s i(tij by interpolating s i (t) at time t ij);
The imaging value s i(tij of the ith receiving unit at the jth imaging target point is calculated), the specific interpolation method is related to the excitation waveform characteristics, sampling rate, etc., and generally, adjacent linear interpolation is adopted. According to actual needs, the interpolation order can be improved, and a plurality of interpolation methods such as second-order Lagrange interpolation or cubic spline interpolation can be selected.
Step 4, calculating an imaging value of the imaging target point:
assume that the imaging value of the jth imaging target point is v j;
the imaging value of the single imaging target point is obtained by superposition of the imaging values of the receiving units at the imaging target point, or is obtained by superposition of the imaging values of part of the receiving units at the imaging target point;
When all receiving units participate in calculating the imaging value v j of the jth imaging target point,
When only part of the receiving units participate in calculating the imaging value v j of the jth imaging target point, the number of the receiving units participating in calculating v j is set as N j, and the number set of the receiving units is set asIs a subset of { 12 … N }, then equation (2) is rewritten as equation (3),
And 5, traversing the imaging target point, repeating the step 3 and the step 4, and completing spherical wave imaging of the whole imaging area by using the mathematical models expressed by the formulas (1) and (2) or the mathematical models expressed by the formulas (1) and (3).
When the imaging region is a two-dimensional vertical section passing through the center of sphere, as shown in fig. 3, the mathematical model of the imaging value of the imaging target point is represented by formulas (1), (2) and (4) or formulas (1), (3) and (4),
Where tg -1 denotes an arctangent function, equation (4) holds for all j=1, …, M, indicating that all imaging target points are located at fan anglesIs within a two-dimensional vertical section of the furnace. The receiving unit is not required to be located in the imaging section and may be arranged according to the actual situation.
When the imaging region is a sphere, as shown in fig. 4, the mathematical model of the imaging value of the imaging target point is represented by formulas (1), (2) and (5) or formulas (1), (3) and (5),
Equation (5) holds for all j=1, …, M, indicating that all imaging target points lie within a sphere of radius r 0. Likewise, the receiving units may be arranged according to the actual situation.
When the imaging region is a cone surface passing through the center of sphere, as shown in fig. 5, the mathematical model of the imaging value of the imaging target point is represented by formulas (1), (2) and (6) or formulas (1), (3) and (6),
Where tg -1 denotes an arctangent function, equation (6) holds for all j=1, …, M, indicating that all imaging target points lie within a cone with a cone angle θ 0. Likewise, the receiving units may be arranged according to the actual situation.
The imaging value of the single imaging target point is directly overlapped by the imaging value of the receiving unit at the imaging target point, or is overlapped after mathematical transformation is applied to the imaging value of the imaging target point by each receiving unit, namely, the formula (2) or (3) of the mathematical model is replaced by the formula (7) or (8) respectively,
Where F { s i(tij) } represents applying a mathematical transformation F to the imaging value of the ith receiving unit at the jth imaging target point.
The mathematical transformation includes taking an absolute value or taking a logarithm of the absolute value. When all receiving units participate in calculation, the specific form of absolute value of mathematical transformation is represented by a formula (9), and the specific form of logarithm of absolute value is represented by a formula (10); when a part of the receiving units participate in the calculation, the specific form of taking the absolute value of the mathematical transformation is represented by a formula (11), the specific form of taking the logarithm of the absolute value is represented by a formula (12),
Where log represents taking a base 10 logarithm and |·| represents taking an absolute value.
Advantageous effects
The spherical wave imaging method provided by the invention is suitable for detection and imaging methods such as sound waves, ultrasonic waves, microwaves and the like, adopts one-time emission of spherical waves to cover the whole imaging area, has high imaging coverage rate, and can meet the requirements of high-coverage rate spherical wave imaging in multiple fields such as medicine, security inspection and the like.
Drawings
Fig. 1: a spherical wave imaging implementation step;
Fig. 2: schematic diagram of spherical wave imaging principle;
fig. 3: the imaging area is a schematic diagram of a vertical section;
Fig. 4: the imaging area is a schematic diagram of a sphere;
Fig. 5: the imaging area is a schematic view of a conical surface.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without the inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
According to an embodiment of the present invention, as shown in fig. 1, the method for imaging spherical waves of the present invention specifically includes the following steps:
step 1, spherical waves are generated through an excitation unit, and original signals are acquired through a receiving unit:
the spherical waves are synchronously excited by a spherical array excitation unit or are generated by a phased array excitation unit by utilizing a beam forming technology;
The excitation wavefront in spherical wave imaging may be a complete sphere or an irregular shape within a sphere, so long as the wave propagation can cover the entire imaging area;
The propagation direction of the wave fronts in spherical wave imaging may be inward or outward. The wavefront propagates inwardly to suit the imaging region inside the initial wavefront; the wave front propagates outwards to adapt to the condition that the imaging area is outside the initial wave front;
The receiving units are multiplexed with the excitation units or are arranged separately from the excitation units according to imaging requirements, preferably in a spherical distribution.
Step 2, setting an imaging area according to an imaging target, and dividing the imaging area into a plurality of imaging target points:
Dividing the imaging area into a plurality of three-dimensional grids or two-dimensional grids according to the dimension of the imaging area, wherein the grid size is smaller than or equal to the imaging resolution requirement; the three-dimensional grid is called a voxel, the two-dimensional grid is called a pixel, the present invention is collectively referred to as imaging target points.
Step 3, calculating imaging values of the single receiving unit in imaging the target point:
the imaging region is any body or surface within the propagation range of the spherical wave, the propagation time of the spherical wave reaching the receiving unit after scattering is calculated by the formula (1),
Wherein the imaging region is split into M imaging target points, (x j,yj,zj) representing coordinates of the j-th imaging target point, j=1, …, M; n receiving units are taken together, (X i,Yi,Zi) represents the coordinates of the i-th receiving unit, i=1, …, N; r represents the radius of the initial wavefront of the spherical wave, c is the wave velocity, and t ij represents the propagation time required for the spherical wave to reach the ith receiving unit through scattering by the jth imaging target point;
Assuming that the original signal s i (t) acquired by the ith receiving unit is s i(tij as the imaging value of the jth imaging target point, obtaining s i(tij by interpolating s i (t) at time t ij);
The imaging value s i(tij of the ith receiving unit at the jth imaging target point is calculated), the specific interpolation method is related to the excitation waveform characteristics, sampling rate, etc., and generally, adjacent linear interpolation is adopted. According to actual needs, the interpolation order can be improved, and a plurality of interpolation methods such as second-order Lagrange interpolation or cubic spline interpolation can be selected.
Step 4, calculating an imaging value of the imaging target point:
assume that the imaging value of the jth imaging target point is v j;
the imaging value of the single imaging target point is obtained by superposition of the imaging values of the receiving units at the imaging target point, or is obtained by superposition of the imaging values of part of the receiving units at the imaging target point;
When all receiving units participate in calculating the imaging value v j of the jth imaging target point, there are
When only part of the receiving units participate in calculating the imaging value v j of the jth imaging target point, the number of the receiving units participating in calculating v j is set as N j, and the number set of the receiving units is set asIs a subset of { 12 … N }, then equation (2) is rewritten as equation (3),
And 5, traversing the imaging target point, repeating the step 3 and the step 4, and completing spherical wave imaging of the whole imaging area by using the mathematical models expressed by the formulas (1) and (2) or the mathematical models expressed by the formulas (1) and (3).
Fig. 2 is a schematic diagram of the principle of spherical wave imaging. Spherical waves are generated by synchronous excitation of spherical array excitation units or by phased array excitation units using beamforming techniques. Illustratively, the imaging region is located inside the initial wavefront, the spherical wave propagates inward, and after the spherical wave hits the scatterer, the scatterer radiates the scattered wave outward as a secondary wave source, which is collected by the receiving unit, according to the huygens principle. And selecting a mathematical model, and superposing imaging values of part or all of the receiving units on the imaging target point to obtain the imaging value of the imaging target point. After spherical wave imaging of the whole imaging area is completed, the obtained image can form a high value at the non-uniform scattering body, so that the detection purpose is achieved.
Illustratively, the imaging region is any volume or plane within the wave propagation range, and the mathematical model of the imaging value of the imaging target point is represented by equations (1) and (2)
Exemplary, as shown in FIG. 3, as a special case of the mathematical models (1) and (2), the imaging region is constrained within a two-dimensional vertical section passing through the center of the sphere, and the mathematical model of the imaging value of the imaging target point is represented by the formulas (1), (2) and (4)
Exemplary, as shown in FIG. 4, as a special case of the mathematical models (1) and (2), the imaging region is a sphere, and the mathematical model of the imaging value of the imaging target point is represented by the formulas (1), (2) and (5)
Exemplary, as shown in FIG. 5, as a special case of the mathematical models (1) and (2), the imaging region is a cone surface passing through the center of sphere, and the mathematical model of the imaging value of the imaging target point is represented by the formulas (1), (2) and (6)
According to one embodiment of the present invention, the imaging value of the imaging target point is obtained by directly superposing the imaging value of each receiving unit on the imaging target point, or by applying mathematical transformations such as taking absolute values or taking logarithms of absolute values to the imaging value of each receiving unit on the imaging target point. When all receiving units participate in calculation, the specific form of absolute value of mathematical transformation is represented by a formula (9), and the specific form of logarithm of absolute value is represented by a formula (10); when a part of the receiving units participate in the calculation, the specific form of taking the absolute value of the mathematical transformation is represented by a formula (11), and the specific form of taking the logarithm of the absolute value of the mathematical transformation is represented by a formula (12)
While the foregoing has been described in relation to illustrative embodiments thereof, so as to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but is to be construed as limited to the spirit and scope of the invention as defined and defined by the appended claims, as long as various changes are apparent to those skilled in the art, all within the scope of which the invention is defined by the appended claims.
Claims (5)
1. A spherical wave imaging method, comprising the steps of:
step 1, spherical waves are generated through an excitation unit, and original signals are collected through a receiving unit;
step 2, setting an imaging area according to an imaging target, and dividing the imaging area into a plurality of imaging target points:
dividing an imaging region into a plurality of voxels or pixels, wherein the voxels or pixels are collectively called an imaging target point;
step 3, calculating imaging values of the single receiving unit in imaging the target point:
the imaging region is any body or surface within the propagation range of the spherical wave, the propagation time of the spherical wave reaching the receiving unit after scattering is calculated by the formula (1),
（1）
Wherein the imaging region is divided intoThe object points are imaged in each case,Is representative of the coordinates of the jth imaging target point,; A total of N receiving units are used,Representing the coordinates of the i-th receiving unit,; R denotes the radius of the initial wavefront of the spherical wave, c is the wave velocity,Representing the propagation time required for the spherical wave to scatter through the jth imaging target point to reach the ith receiving unit;
assume that the original signal acquired by the ith receiving unit The imaging value of the ith receiving unit at the jth imaging target point isBy pairing ofAt the position ofTime interpolation calculation；
Step 4, calculating an imaging value of the imaging target point:
Assume that the imaging value of the jth imaging target point is ；
The imaging value of the single imaging target point is obtained by superposition of the imaging values of the receiving units at the imaging target point, or is obtained by superposition of the imaging values of part of the receiving units at the imaging target point;
when all receiving units participate in calculating imaging values of jth imaging target point In the time-course of which the first and second contact surfaces,
(2)
When only part of the receiving units participate in calculating imaging values of the jth imaging target pointAt the time, let it participate in calculationThe number of the receiving units isThe receiving unit number set isIs thatThen formula (2) is rewritten as formula (3),
(3)
And 5, traversing the imaging target point, repeating the step 3 and the step 4, and completing spherical wave imaging of the whole imaging area by using the mathematical models expressed by the formulas (1) and (2) or the mathematical models expressed by the formulas (1) and (3).
2. A spherical wave imaging method according to claim 1, wherein in the step 3 and the step 4, when the imaging region is a two-dimensional vertical cross section passing through the center of the sphere, the mathematical model of the imaging value of the imaging target point is represented by the formulas (1), (2) and (4) or the formulas (1), (3) and (4),
(4)
Wherein the method comprises the steps ofRepresenting the arctangent function, equation (4) for allIs true, indicates that all imaging target points are positioned at fan anglesIs within a two-dimensional vertical section of the furnace.
3. A spherical wave imaging method according to claim 1, wherein in the step 3 and the step 4, when the imaging region is a spherical surface, a mathematical model of imaging values of the imaging target point is represented by formulas (1), (2) and (5) or formulas (1), (3) and (5),
(5)
Equation (5) applies to allIs true, indicating that all imaging target points are located at a radiusIs formed in the spherical surface of the lens.
4. A spherical wave imaging method according to claim 1, wherein in the step 3 and the step 4, when the imaging region is a cone passing through the center of sphere, the mathematical model of the imaging value of the imaging target point is represented by formulas (1), (2) and (6) or formulas (1), (3) and (6),
(6)
Wherein the method comprises the steps ofRepresenting the arctangent function, equation (6) for allIs true, indicating that all imaging target points are located at cone anglesIs formed in the conical surface of the sleeve.
5. A spherical wave imaging method according to any one of claims 1 to 4, wherein the imaging values of the imaging target point are directly superimposed by the receiving units at the imaging target point or are superimposed after applying mathematical transformations to the imaging values of the respective receiving units at the imaging target point, i.e. the formula (2) or (3) of the mathematical model is replaced by the formula (7) or (8), respectively,
(7)
(8)
Wherein F { s i(tij) } represents applying a mathematical transformation F to the imaging value of the ith receiving unit at the jth imaging target point;
The mathematical transformation comprises taking an absolute value or taking the logarithm of the absolute value, and when all receiving units participate in calculation, the specific form of taking the absolute value by the mathematical transformation is represented by a formula (9) and the specific form of taking the logarithm of the absolute value is represented by a formula (10); when a part of the receiving units participate in the calculation, the specific form of taking the absolute value of the mathematical transformation is represented by a formula (11), the specific form of taking the logarithm of the absolute value is represented by a formula (12),
(9)
(10)
(11)
(12)
Wherein,The representation is taken as a logarithm of 10 base,The representation takes absolute value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111488931.7A CN114202627B (en) | 2021-12-07 | 2021-12-07 | Spherical wave imaging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111488931.7A CN114202627B (en) | 2021-12-07 | 2021-12-07 | Spherical wave imaging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114202627A CN114202627A (en) | 2022-03-18 |
| CN114202627B true CN114202627B (en) | 2024-08-20 |
Family
ID=80651198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111488931.7A Active CN114202627B (en) | 2021-12-07 | 2021-12-07 | Spherical wave imaging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114202627B (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008079301A2 (en) * | 2006-12-21 | 2008-07-03 | Massachusetts Institute Of Technology | Methods and apparatus for 3d surface imaging using active wave-front sampling |
| CN109521401B (en) * | 2018-09-27 | 2023-07-18 | 北京大学 | A Fast Beamforming Method for Synthetic Aperture Imaging |
| CN111419185B (en) * | 2020-04-08 | 2023-03-28 | 国网山西省电力公司电力科学研究院 | Magneto-acoustic imaging image reconstruction method with nonuniform sound velocity |
-
2021
- 2021-12-07 CN CN202111488931.7A patent/CN114202627B/en active Active
Non-Patent Citations (1)
| Title |
|---|
| Simulation of Magneto-Acousto-Electrical Tomography Based on Approximately Realistic Numerical Breast Model;Wenwei Zhang 等;The Proceedings of 2023 International Conference on Wireless Power Transfer (ICWPT2023);20240309;第1158卷;第706-713页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114202627A (en) | 2022-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6408297B2 (en) | Beam forming method, measurement imaging apparatus, and communication apparatus | |
| US11759177B2 (en) | Three-dimensional ultrasound tomography method and system based on spiral scanning | |
| CN109640830A (en) | Focus ultrasonic based on precedent | |
| CN107909624B (en) | A method for extracting and fusing two-dimensional images from three-dimensional tomography | |
| EP3324853B1 (en) | A method of, and apparatus for, determination of position in ultrasound imaging | |
| US10497284B2 (en) | Systems and methods of ultrasound simulation | |
| CN104777485B (en) | The three-dimensional broad beam zonule Quick air formation method of ultrasonic two-dimensional array | |
| US11872078B2 (en) | Device, system, and method for hemispheric breast imaging | |
| CN103969651A (en) | Self-adaptive acoustic imaging method | |
| CN103025248A (en) | Image information acquiring apparatus, image information acquiring method and image information acquiring program | |
| CN110456362B (en) | A method and system for target acoustic imaging and velocity measurement based on pulse pair emission | |
| Wei et al. | High frame rate volumetric imaging of microbubbles using a sparse array and spatial coherence beamforming | |
| Gjerald et al. | Real-time ultrasound simulation using the GPU | |
| Noda et al. | Ultrasound imaging with a flexible probe based on element array geometry estimation using deep neural network | |
| CN110554383B (en) | MIMO annular array azimuth imaging method and device for microwave frequency band | |
| Qu et al. | Z-splat: Z-axis gaussian splatting for camera-sonar fusion | |
| CN105869191B (en) | A kind of time reversal Photoacoustic image reconstruction method based on Fdtd Method | |
| CN114202627B (en) | Spherical wave imaging method | |
| CN111580112B (en) | Underwater sonar sensor array imaging method based on plane waves | |
| US20040167396A1 (en) | Quantitative full aperture tomography imaging system and method | |
| WO2020255265A1 (en) | Radar system, imaging method, and imaging program | |
| Cui et al. | Fast 3-D Ultrasonic Imaging Using Time-Domain Synthetic Aperture Focusing Techniques<? brk?> Based on Circular Scan Conversions | |
| Yamamoto et al. | Displacement detection with sub-pixel accuracy and high spatial resolution using deep learning | |
| Gyöngy et al. | Experimental validation of a convolution-based ultrasound image formation model using a planar arrangement of micrometer-scale scatterers | |
| Duelmer et al. | UltraRay: Full-Path Ray Tracing for Enhancing Realism in Ultrasound Simulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |