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EP3559463B1 - Verdrängerpumpe für medizinische flüssigkeiten und blutbehandlungsvorrichtung sowie verfahren zu deren steuerung - Google Patents

Verdrängerpumpe für medizinische flüssigkeiten und blutbehandlungsvorrichtung sowie verfahren zu deren steuerung Download PDF

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Publication number
EP3559463B1
EP3559463B1 EP17816835.7A EP17816835A EP3559463B1 EP 3559463 B1 EP3559463 B1 EP 3559463B1 EP 17816835 A EP17816835 A EP 17816835A EP 3559463 B1 EP3559463 B1 EP 3559463B1
Authority
EP
European Patent Office
Prior art keywords
positive displacement
pump
actuation member
pressure
control unit
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
Application number
EP17816835.7A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3559463A1 (de
Inventor
Arne Peters
Christoph Wiktor
Gökhan Örter
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.)
Fresenius Medical Care Deutschland GmbH
Original Assignee
Fresenius Medical Care Deutschland GmbH
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
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Publication of EP3559463A1 publication Critical patent/EP3559463A1/de
Application granted granted Critical
Publication of EP3559463B1 publication Critical patent/EP3559463B1/de
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B9/00—Piston machines or pumps characterised by the driving or driven means to or from their working members
    • F04B9/08—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid
    • F04B9/12—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being elastic, e.g. steam or air
    • F04B9/123—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being elastic, e.g. steam or air having only one pumping chamber
    • F04B9/125—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being elastic, e.g. steam or air having only one pumping chamber reciprocating movement of the pumping member being obtained by a double-acting elastic-fluid motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B13/00—Pumps specially modified to deliver fixed or variable measured quantities
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B43/00—Machines, pumps, or pumping installations having flexible working members
    • F04B43/0009—Special features
    • F04B43/0081—Special features systems, control, safety measures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B43/00—Machines, pumps, or pumping installations having flexible working members
    • F04B43/02—Machines, pumps, or pumping installations having flexible working members having plate-like flexible members, e.g. diaphragms
    • F04B43/04—Pumps having electric drive
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B43/00—Machines, pumps, or pumping installations having flexible working members
    • F04B43/02—Machines, pumps, or pumping installations having flexible working members having plate-like flexible members, e.g. diaphragms
    • F04B43/06—Pumps having fluid drive
    • F04B43/067—Pumps having fluid drive the fluid being actuated directly by a piston
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/08—Regulating by delivery pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/22—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by means of valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2201/00—Pump parameters
    • F04B2201/06—Valve parameters
    • F04B2201/0606—Opening width or height
    • F04B2201/06062—Opening width or height of the outlet valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2205/00—Fluid parameters
    • F04B2205/03—Pressure in the compression chamber
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2205/00—Fluid parameters
    • F04B2205/05—Pressure after the pump outlet
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2205/00—Fluid parameters
    • F04B2205/09—Flow through the pump

Definitions

  • the invention relates to a displacement pump for conveying medical fluids, which has a pump chamber and a displacement body, and a blood treatment device with a displacement pump.
  • the invention also relates to a method for controlling a positive displacement pump for conveying medical fluids.
  • the known positive displacement pumps have a pump chamber and a displacement body.
  • the liquid is conveyed as a result of the change in volume caused by the movement of the displacement body in the pump chamber.
  • the displacement body is a piston which is guided in a wooden cylinder and actuated by a drive unit.
  • Diaphragm pumps are used in medical technology to convey medical fluids.
  • the advantage of diaphragm pumps is that the drive unit is separated from the liquid to be pumped by a diaphragm.
  • high demands are made on diaphragm pumps.
  • the diaphragm pumps should have a high delivery accuracy.
  • Diaphragm pumps with a high delivery accuracy are used, for example, in dialysis.
  • diaphragm pumps In dialysis machines, diaphragm pumps are used which have an assembly on the device side and an assembly which is intended only for single use and which can be designed as a cassette (disposable).
  • the cassette has a pump chamber which is closed by an elastic membrane.
  • the device-side assembly comprises an actuating body with which the membrane is deformed so that a change in volume takes place in the pump chamber, whereby the medical liquid is conveyed.
  • the outlet of the pump chamber In the suction phase, the outlet of the pump chamber is closed by an outlet valve, while the inlet of the pump chamber is closed by an inlet valve in the pressure phase.
  • the disposable-side assembly of the diaphragm pump can be coupled to the device-side assembly so that the actuating body can deform the membrane. Due to the two-part design of the diaphragm pump, a permanent connection between the actuating body and the diaphragm is not possible.
  • Piston diaphragm pumps are known from the prior art for generating high pressures in working machines, in which the diaphragm is in operative connection via a working space which is filled with hydraulic oil as the working fluid. This is intended to relieve the membrane and increase its service life.
  • the US 6,302,653 B1 describes a pump system with a pump chamber, a displacement body, an actuation body in operative connection with the displacement body for moving or deforming the displacement body for conveying the liquid into the pump chamber or out of the pump chamber and a drive device for moving the actuation body.
  • the actuating body is in operative connection with the displacement body via a gas-filled working chamber which has a closed volume.
  • the pump system comprises an actuating device and a pump device.
  • the drive device, the actuating body and the working chamber are part of the actuating device and the displacement body and the pump chamber (5) are part of the pump device.
  • the EP 0 156 211 A2 describes a pump system for medical purposes, in particular a blood or infusion pump, with a pump housing which is divided by a pump membrane into a working chamber, which is exposed to the liquid to be pumped, and a drive chamber, which is connected to a pneumatic pump via a connecting line is.
  • a pump system that has a device-side assembly and an assembly intended for single use only, which is called a cassette (disposable) is formed.
  • This type of construction is characterized in that the device-side actuating device and the disposable-side pump device are designed in such a way that the disposable-side pump device can be coupled to the device-side actuating device. Consequently, via the volume of gas enclosed in a working chamber, an operative connection between an actuating body and a displacement body designed as an elastic membrane can be established.
  • the invention is based on the object of creating a positive displacement pump for use in medical technology for conveying medical fluids, which allows a separation of a device-side and a disposable-side assembly.
  • the invention is based on the object of creating a positive displacement pump in a two-part design for conveying medical fluids with a high level of delivery accuracy.
  • an object of the invention is to provide a blood treatment device with a displacement pump and to specify a method for controlling a diaphragm pump, it being possible to separate the displacement pump into an assembly on the device side and an assembly on the disposable side.
  • the displacement pump according to the invention for medical fluids has a pump chamber, a displacement body, an actuation body in operative connection with the displacement body for moving or deforming the displacement body for conveying the liquid into the pump chamber or out of the pump chamber and a drive device for moving the actuation body.
  • a control unit is provided to control the drive device and the inlet valve and outlet valve. The control unit is designed in such a way that the inlet valve is opened in the suction phase and the outlet valve is closed and in the pressure phase the The inlet valve is closed and the outlet valve is open.
  • the displacement body can in principle be designed differently.
  • the positive displacement pump is a diaphragm pump which has a deformable diaphragm as the displacement body which closes a pump chamber.
  • the displacement body can also be a piston in a hollow cylinder.
  • the actuating body is not firmly connected to the displacement body, but the actuating body is in operative connection with the displacement body via a gas-filled working chamber that has a closed volume. Since there is no fixed connection between the actuating body and the displacement body, the displacement pump according to the invention allows a two-part construction with a device-side and a disposable-side assembly intended for single use.
  • the volume of gas displaced by the actuating body corresponds to the volume of liquid which is displaced from the pump chamber by the displacement body.
  • the displacement pump according to the invention provides a device-side actuation device and a disposable-side pump device, the drive device, the actuating body and the working chamber being part of the device-side actuating device and the displacement body and the pump chamber being part of the disposable-side pump device.
  • the drive device, the actuating body and the working chamber being part of the device-side actuating device and the displacement body and the pump chamber being part of the disposable-side pump device.
  • an actuating device on the device side and a pump device on the disposable side are not provided.
  • the device-side actuation device and the disposable-side pump device are preferably designed such that the Disposable-side pump device can be coupled to the device-side actuating device.
  • an operative connection between the actuating body and the displacement body is established via the volume of gas enclosed in the working chamber, so that the actuating body can actuate the displacement body, for example it can move or deform it.
  • the working chamber can be designed differently.
  • the working chamber is preferably a cylinder body (hollow cylinder) in which a piston is guided as an actuating body.
  • a piston is guided as an actuating body.
  • the drive device For driving the actuating body, the drive device preferably has an electric motor which is controlled by the control unit.
  • the displacement pump provides a special design of the control unit when the actuating body and the displacement body are coupled via a gas volume, in particular air volume, enclosed in a working chamber.
  • control unit has a pressure measuring device for measuring the pressure in the working chamber, for example an electronic pressure sensor.
  • the control unit is designed such that in the pressure phase the outlet valve is controlled as a function of the pressure measured by the pressure measuring device in such a way that the pressure p in the working chamber remains constant when the actuating body is moved. It is assumed that the temperature T does not change either, which can be assumed in practice.
  • control unit is preferably designed in such a way that the drive device is controlled in such a way that the delivery rate corresponds to a predetermined target delivery rate or the delivery rate corresponds to a predetermined target delivery rate.
  • the control unit specifies a certain distance by which the actuating body is moved, while the control unit specifies a certain speed for setting a specific target delivery type for the movement of the displacement body.
  • a particularly preferred embodiment provides a travel sensor for measuring the travel path of the actuating body, the control unit being designed in such a way that, on the basis of the measured travel path of the actuating body, the actual delivery rate or actual delivery type is calculated and the drive device is controlled in such a way that the actual delivery rate - delivery rate corresponds to the target delivery rate or the actual delivery rate corresponds to the target delivery rate.
  • the positive displacement pump according to the invention is used in particular as a diaphragm pump in medical devices for conveying a medical treatment liquid Use, for example in a blood treatment device (dialysis device) for the precise dosage of an anticoagulant solution.
  • the method according to the invention for controlling a displacement pump for medical liquids which has a pump chamber, a displacement body, an actuation body in operative connection with the displacement body for moving or deforming the displacement body, a drive device for moving the actuation body and an inlet valve and an outlet valve, is characterized characterized in that the displacement body is actuated by the actuating body via a closed volume of air which is enclosed in a working space.
  • the outlet valve is controlled as a function of the pressure in the working space in such a way that the pressure in the working space remains constant when the actuating body is moved, and the actuating body is moved in such a way that the delivery rate reaches a predetermined target delivery rate or the Type of funding corresponds to a specified target type of funding.
  • the actuating body is controlled as a function of the pressure in the working space in such a way that the pressure in the working space remains constant when the actuating body is moved, and the outlet valve is controlled in such a way that the delivery rate of a predetermined target delivery rate or the delivery type corresponds to a specified target type of funding.
  • Fig. 1 shows in a greatly simplified schematic representation a medical treatment device, in particular a dialysis device, which has the positive displacement pump 1 according to the invention.
  • the dialysis device has an extracorporeal blood circuit 2, which is only shown schematically.
  • the positive displacement pump 1 is used to deliver a medical liquid for carrying out the treatment, which is provided in a container 3.
  • an anticoagulant solution is fed to the extracorporeal blood circuit 2 with the positive displacement pump 1.
  • the positive displacement pump 1 has a pump device 4 with a pump chamber 5, which is part of a cassette 6 (disposable) intended for single use, which is inserted into a receiving unit 7 of the dialysis device.
  • the pump chamber 5 has an inlet 8, to which an inlet line 9 is connected, and an outlet 10, to which an outlet line 11 is connected.
  • the inlet line 9 is connected to the container 3 for the treatment liquid, in particular the anticoagulant solution, and the outlet line 11 is connected to the extracorporeal blood circuit 2.
  • the inflow of liquid, in particular the anticoagulant solution, into the pump chamber 5 is regulated with an inlet valve 12 and the outflow of liquid from the pump chamber 5 with an outlet valve 13.
  • the inlet valve 12 and the outlet valve 13, which can be designed as electromagnetic or pneumatic valves, are controlled by a control unit 14, which can be part of the central control unit of the treatment device.
  • the pump chamber 5 which can have a cylindrical pump space, is tightly closed by a flexible membrane 15 which is applied to the top of the cassette 6.
  • the displacement pump 1 has an actuating device 16 on the device side, to which the pump device 4 on the disopic side can be coupled in a sealing manner.
  • the sealing takes place via mutually opposite contact surfaces 17, 18 of the pump device 4 and the actuating device 16.
  • the actuating device 16 has a working chamber 19 which can have a cylindrical working space which can be coupled in a sealing manner to the pump chamber 5 of the actuating device 4.
  • An actuating body 20, which can be a piston, is guided in the working chamber 19 so as to be longitudinally displaceable.
  • the actuation body 20 is driven by a drive device 21 which can have an electric motor 22 which actuates the piston via a coupling mechanism (not shown).
  • the pump device 16 When the pump device 16 is coupled to the actuating device 4, in the working chamber 19 of the actuating device between the actuating body 20, i. the end face of the piston, a volume of air enclosed, so that a stroke movement of the piston leads to a deformation of the displacement body (membrane) 15, whereby liquid is displaced from the pump chamber 5.
  • the volume of air displaced by the piston corresponds to the volume of liquid displaced from the pump chamber.
  • the control unit 14 for controlling the drive device 21 and the inlet and outlet valves 12, 13 can, for example, be a general processor, a digital signal processor (DSP) for continuous processing of digital signals, a microprocessor, an application-specific integrated circuit (ASIC), a logic element Integrated circuit (FPGA) or other integrated circuits (IC) or hardware components have in order to carry out the individual process steps for regulating the pressure or flow. On the hardware components a data processing program (software) can run to carry out the process steps.
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA logic element Integrated circuit
  • IC integrated circuits
  • the control unit 21 controls the inlet and outlet valves 12, 13 such that the inlet valve 12 is open and the outlet valve 13 is closed in the suction phase and the inlet valve 12 is closed and the outlet valve 13 is open in the pressure phase.
  • Fig. 1 all components are only shown schematically.
  • the inlet and outlet valves can also have disposable-side and device-side components.
  • control unit 14 provides the following control (regulation) for the drive device 21 of the actuating body 20 and for the inlet valve 12 and outlet valve 13c.
  • the control unit 14 has a pressure measuring device 23, for example an electronic pressure sensor, which measures the actual pressure in the working chamber 19.
  • FIG. 2 and 3 illustrate the regulation of pressure and flow.
  • the individual components are in the Figures 2 and 3 with the same reference numerals as in Fig. 1 provided, with the pump chamber 19 and working chamber 5 being shown in a greatly simplified manner.
  • control unit 14 is configured in such a way that the control unit controls the outlet valve 13 in the pressure phase as a function of the pressure measured by the pressure sensor 23 in such a way that the pressure p in the Working chamber 19 remains constant during the stroke movement of piston 20. 14
  • the control unit measures the actual pressure p is connected to the pressure sensor 23 and compares the actual pressure to desired pressure p with which is to be kept constant. To increase or decrease the actual pressure, the valve body of the outlet valve 13 is opened or closed accordingly, so that the pressure is constant.
  • the delivery rate of the positive displacement pump is regulated via the travel path of the actuating body, which is measured with a travel sensor 24.
  • the control unit 14 is configured in such a way that the actual delivery amount or actual delivery rate is calculated on the basis of the measured travel path of the actuating body.
  • the displaced air volume, which corresponds to the delivery rate, is calculated from the product of the travel x measured with the displacement sensor 24 and the cross-sectional area of the working chamber 19 or the end face of the piston 20.
  • the control unit 14 controls the drive device 21 in such a way that the actual delivery rate of the desired flow rate or the actual delivery rate Q, the target delivery rate Q corresponding to.
  • control unit 14 is configured in such a way that in the pressure phase the drive device 21 is controlled as a function of the pressure measured by the pressure sensor 23 in such a way that the pressure p in the working chamber when the actuating body is moved remains constant.
  • the control unit 14 the feed speed of the operating body.
  • the speed of the electric motor 22 can be increased or decreased.
  • the exhaust valve 13 is actuated by the control unit 14 such that the corresponding actual delivery rate of the desired flow rate or actual delivery rate Q is the target flow rate Q should.
  • the outlet valve is opened or closed further.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • External Artificial Organs (AREA)
  • Reciprocating Pumps (AREA)
EP17816835.7A 2016-12-20 2017-12-17 Verdrängerpumpe für medizinische flüssigkeiten und blutbehandlungsvorrichtung sowie verfahren zu deren steuerung Active EP3559463B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016015110.2A DE102016015110A1 (de) 2016-12-20 2016-12-20 Verdrängerpumpe für medizinische Flüssigkeiten und Blutbehandlungsvorrichtung mit einer Verdrängerpumpe für medizinische Flüssigkeiten sowie Verfahren zur Steuerung einer Verdrängerpumpe für mediizinische Flüssigkeiten
PCT/EP2017/083184 WO2018114727A1 (de) 2016-12-20 2017-12-17 Verdrängerpumpe für medizinische flüssigkeiten und blutbehandlungsvorrichtung sowie verfahren zu deren steuerung

Publications (2)

Publication Number Publication Date
EP3559463A1 EP3559463A1 (de) 2019-10-30
EP3559463B1 true EP3559463B1 (de) 2020-12-02

Family

ID=60702792

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17816835.7A Active EP3559463B1 (de) 2016-12-20 2017-12-17 Verdrängerpumpe für medizinische flüssigkeiten und blutbehandlungsvorrichtung sowie verfahren zu deren steuerung

Country Status (6)

Country Link
US (1) US11300120B2 (zh)
EP (1) EP3559463B1 (zh)
JP (1) JP7123968B2 (zh)
CN (1) CN110088472B (zh)
DE (1) DE102016015110A1 (zh)
WO (1) WO2018114727A1 (zh)

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JP7123968B2 (ja) 2022-08-23
DE102016015110A1 (de) 2018-06-21
US20190383282A1 (en) 2019-12-19
US11300120B2 (en) 2022-04-12
CN110088472B (zh) 2021-08-17
EP3559463A1 (de) 2019-10-30
WO2018114727A1 (de) 2018-06-28
JP2020501864A (ja) 2020-01-23
CN110088472A (zh) 2019-08-02

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