SG11202009243SA - Automated cryogenic storage and retrieval system - Google Patents
Automated cryogenic storage and retrieval systemInfo
- Publication number
- SG11202009243SA SG11202009243SA SG11202009243SA SG11202009243SA SG11202009243SA SG 11202009243S A SG11202009243S A SG 11202009243SA SG 11202009243S A SG11202009243S A SG 11202009243SA SG 11202009243S A SG11202009243S A SG 11202009243SA SG 11202009243S A SG11202009243S A SG 11202009243SA
- Authority
- SG
- Singapore
- Prior art keywords
- retrieval system
- cryogenic storage
- automated cryogenic
- automated
- storage
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D29/00—Arrangement or mounting of control or safety devices
- F25D29/001—Arrangement or mounting of control or safety devices for cryogenic fluid systems
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
- A01N1/00—Preservation of bodies of humans or animals, or parts thereof
- A01N1/10—Preservation of living parts
- A01N1/14—Mechanical aspects of preservation; Apparatus or containers therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01N—PRESERVATION OF BODIES OF HUMANS OR ANIMALS OR PLANTS OR PARTS THEREOF; BIOCIDES, e.g. AS DISINFECTANTS, AS PESTICIDES OR AS HERBICIDES; PEST REPELLANTS OR ATTRACTANTS; PLANT GROWTH REGULATORS
- A01N1/00—Preservation of bodies of humans or animals, or parts thereof
- A01N1/10—Preservation of living parts
- A01N1/14—Mechanical aspects of preservation; Apparatus or containers therefor
- A01N1/142—Apparatus
- A01N1/144—Apparatus for temperature control, e.g. refrigerators or freeze-drying apparatus
- A01N1/145—Stationary or portable vessels generating cryogenic temperatures, e.g. liquid nitrogen baths
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D25/00—Charging, supporting, and discharging the articles to be cooled
- F25D25/04—Charging, supporting, and discharging the articles to be cooled by conveyors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/42—Low-temperature sample treatment, e.g. cryofixation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
- G01N35/026—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having blocks or racks of reaction cells or cuvettes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0464—Storage devices mechanical with access from above
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1062—Sampling under constant temperature, pressure, or the like
- G01N2001/1081—Storing samples under refrigeration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N2035/00346—Heating or cooling arrangements
- G01N2035/00435—Refrigerated reagent storage
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Wood Science & Technology (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Dentistry (AREA)
- Combustion & Propulsion (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Warehouses Or Storage Devices (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201862647450P | 2018-03-23 | 2018-03-23 | |
| PCT/US2019/022519 WO2019182900A1 (en) | 2018-03-23 | 2019-03-15 | Automated cryogenic storage and retrieval system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| SG11202009243SA true SG11202009243SA (en) | 2020-10-29 |
Family
ID=66041634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SG11202009243SA SG11202009243SA (en) | 2018-03-23 | 2019-03-15 | Automated cryogenic storage and retrieval system |
Country Status (7)
| Country | Link |
|---|---|
| US (2) | US11828516B2 (en) |
| EP (1) | EP3768081B1 (en) |
| JP (1) | JP7321182B2 (en) |
| KR (1) | KR102727709B1 (en) |
| CN (1) | CN112566497A (en) |
| SG (1) | SG11202009243SA (en) |
| WO (1) | WO2019182900A1 (en) |
Families Citing this family (31)
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| US10557810B2 (en) * | 2016-10-06 | 2020-02-11 | The Regents Of The University Of California | Ice nucleating particle spectrometer |
| JP7154515B2 (en) | 2018-10-05 | 2022-10-18 | ティーエムアールダブリュ ライフサイエンシーズ,インコーポレイテツド | Apparatus for preserving and identifying biological samples in cryogenic conditions |
| JP6666576B1 (en) * | 2019-01-15 | 2020-03-18 | 株式会社椿本チエイン | Cold storage system |
| CN113825964A (en) * | 2019-05-14 | 2021-12-21 | 联合利华知识产权控股有限公司 | Container for storing and serving frozen desserts |
| US11164769B2 (en) * | 2019-07-30 | 2021-11-02 | Brooks Automation, Inc. | Robot embedded vision apparatus |
| FR3101864B1 (en) | 2019-10-15 | 2021-10-08 | Irelec | Installation for handling and storing biological samples at very low temperatures, comprising at least one Cartesian robot and one robot with at least five axes. |
| US11607691B2 (en) | 2019-10-29 | 2023-03-21 | TMRW Life Sciences, Inc. | Apparatus to facilitate transfer of biological specimens stored at cryogenic conditions |
| EP4070022B1 (en) | 2019-12-04 | 2025-05-07 | Unilever IP Holdings B.V. | Container for storing and serving frozen confectionery items |
| BR112022010923A2 (en) | 2019-12-04 | 2022-09-06 | Unilever Ip Holdings B V | THERMALLY INSULATED CONTAINER, SERVICE CART AND METHOD FOR STORING AND SERVING FROZEN CONFECTIONERY COLLECTABLE WITH A SHELL |
| GB2593141B (en) * | 2020-01-20 | 2024-04-03 | Azenta Us Inc | Vessel gripper |
| CN113552577A (en) * | 2020-04-03 | 2021-10-26 | 上海禾赛科技有限公司 | Temperature control system for laser radar and radar performance testing device comprising same |
| WO2021236463A1 (en) | 2020-05-18 | 2021-11-25 | TMRW Life Sciences, Inc. | Handling and tracking of biological specimens for cryogenic storage |
| USD951481S1 (en) | 2020-09-01 | 2022-05-10 | TMRW Life Sciences, Inc. | Cryogenic vial |
| US11744242B2 (en) * | 2020-09-17 | 2023-09-05 | Drsignal Biotechnology Co., Ltd. | Living body specimen transport device |
| WO2022066943A1 (en) * | 2020-09-24 | 2022-03-31 | TMRW Life Sciences, Inc. | Workstation and apparatus to facilitate transfer of biological specimens stored at cryogenic conditions |
| JP7487968B2 (en) | 2020-09-24 | 2024-05-21 | ティーエムアールダブリュ ライフサイエンシーズ,インコーポレイテツド | CRYOGENIC STORAGE SYSTEM WITH SENSORS FOR MEASURING ONE OR MORE PARAMETERS THEREIN - Patent application |
| JP7545768B2 (en) | 2020-10-02 | 2024-09-05 | ティーエムアールダブリュ ライフサイエンシーズ,インコーポレイテツド | INTERROGATION DEVICE AND/OR SYSTEM HAVING ALIGNMENT MECHANISM FOR WIRELESS TRANSPONDER TAGGED SAMPLE VESSELS AND/OR CARRIERS - Patent application |
| JP7432004B2 (en) * | 2020-10-30 | 2024-02-15 | 株式会社日立ハイテク | Automatic analyzer and sample storage device |
| USD963194S1 (en) | 2020-12-09 | 2022-09-06 | TMRW Life Sciences, Inc. | Cryogenic vial carrier |
| WO2022125817A1 (en) | 2020-12-10 | 2022-06-16 | TMRW Life Sciences, Inc. | Specimen holder with wireless transponder for attachment to secimen collection body |
| EP4252009B1 (en) * | 2021-01-13 | 2025-03-05 | TMRW Life Sciences, Inc. | System to pick and/or place specimen containers |
| CN112978195B (en) * | 2021-04-30 | 2022-07-22 | 东莞理工学院 | A new type of three-dimensional storage equipment |
| EP4130841B1 (en) * | 2021-08-04 | 2025-06-11 | Leica Mikrosysteme GmbH | System for loading and/or manipulating a sample in a sample transfer device |
| US20230052944A1 (en) * | 2021-08-13 | 2023-02-16 | Azenta US, Inc. | Simulacrum labware substitutes and methods therefor |
| WO2023060222A1 (en) | 2021-10-08 | 2023-04-13 | TMRW Life Sciences, Inc. | Systems, apparatus and methods to pick and/or place specimen containers |
| US20230296639A1 (en) * | 2022-03-21 | 2023-09-21 | Fei Company | Cryogenic sample handling and storage system |
| CN114719485B (en) * | 2022-04-22 | 2024-10-18 | 青岛海尔生物医疗科技有限公司 | Automatic operation platform |
| CN115352743B (en) * | 2022-08-16 | 2025-04-04 | 苏州贝康医疗器械有限公司 | Automated cryogenic sample library |
| CN116198890B (en) * | 2023-02-02 | 2025-12-05 | 青岛海尔生物医疗科技有限公司 | Automated storage devices |
| EP4417052A1 (en) * | 2023-02-20 | 2024-08-21 | Drsignal Biotechnology Co., Ltd | Automatic cell cryopreservation and thawing apparatus and cryopreservation cartridge for such an apparatus |
| EP4589227A1 (en) * | 2024-01-22 | 2025-07-23 | Autostore Technology As | A defrosting module |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5233844A (en) | 1991-08-15 | 1993-08-10 | Cryo-Cell International, Inc. | Storage apparatus, particularly with automatic insertion and retrieval |
| US5498116A (en) | 1993-08-26 | 1996-03-12 | Exabyte Corporation | Entry-exit port for cartridge library |
| US5638686A (en) | 1995-02-23 | 1997-06-17 | Thermogenesis Corporation | Method and apparatus for cryogenic storage of thermolabile products |
| US5921102A (en) | 1997-03-28 | 1999-07-13 | Cryo-Cell International, Inc. | Storage apparatus particularly with automatic insertion and retrieval |
| US6302327B1 (en) | 1997-06-16 | 2001-10-16 | Thermogenesis, Corp. | Method and apparatus for cryogenic storage of thermolabile products |
| US6068437A (en) | 1998-11-24 | 2000-05-30 | Lab-Interlink | Automated laboratory specimen organizer and storage unit |
| DE60125380T2 (en) | 2000-08-23 | 2007-10-04 | The University Of Virginia Patent Foundation | AUTOMATED STORAGE AND REMOVAL DEVICE FOR FREEZER AND CORRESPONDING METHOD |
| JP2004075363A (en) * | 2002-08-21 | 2004-03-11 | Hitachi Koki Co Ltd | Automatic storage device |
| ITBO20020607A1 (en) | 2002-09-26 | 2004-03-27 | Cryorobotics | AUTOMATIC TEMPERATURE STORAGE SYSTEM |
| EP1573340B1 (en) | 2002-12-16 | 2012-09-26 | Thermo CRS Ltd. | An automatic storage device with a cylindrical rack |
| EP1441026B1 (en) | 2003-01-10 | 2012-10-17 | Liconic Ag | Automatic storage system and climatic cabinet with automatic storage system |
| US9099506B2 (en) * | 2005-03-30 | 2015-08-04 | Brooks Automation, Inc. | Transfer chamber between workstations |
| EP2682189B1 (en) | 2006-01-23 | 2015-03-11 | Nexus Biosystems, Inc., | Automated system for storing, retrieving and managing samples |
| EP1972874B1 (en) | 2007-03-20 | 2019-02-13 | Liconic Ag | Automated substance warehouse |
| ITMI20072386A1 (en) | 2007-12-19 | 2009-06-20 | Dachi S R L | "AUTOMATIC WAREHOUSE DEPOSIT, STORAGE AND RECOVERY OF BIOLOGICAL MATERIAL SAMPLES IN A REFRIGERATED WAREHOUSE" |
| US7861540B2 (en) | 2008-01-25 | 2011-01-04 | Hamilton Storage Technologies, Inc. | Automated storage and retrieval system for storing biological or chemical samples at ultra-low temperatures |
| US8176747B2 (en) | 2008-07-31 | 2012-05-15 | Hamilton Storage Technologies, Inc. | Tube picking mechanism for an automated, ultra-low temperature storage and retrieval system |
| EP2169405A2 (en) | 2008-09-30 | 2010-03-31 | F.Hoffmann-La Roche Ag | Robotic Store |
| EP2491403B1 (en) * | 2009-10-19 | 2019-06-19 | Nexus Biosystems, Inc. | Modular sample store and method for transporting sample containers in a modular sample store |
| JP5701312B2 (en) * | 2009-11-24 | 2015-04-15 | シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレーテッドSiemens Healthcare Diagnostics Inc. | Automatic refrigerated sample inventory management system |
| WO2011153279A2 (en) | 2010-06-01 | 2011-12-08 | Nexus Biosystems, Inc | Automated storage system for high density storage |
| US9163869B2 (en) * | 2010-09-09 | 2015-10-20 | Hamilton Storage Technologies, Inc. | Tube picking mechanisms with an ultra-low temperature or cryogenic picking compartment |
| US20120060520A1 (en) * | 2010-09-10 | 2012-03-15 | Hamilton Storage Technologies, Inc. | Input/Output Module and Overall Temperature Control of Samples |
| US9028754B2 (en) * | 2011-12-09 | 2015-05-12 | Hamilton Storage Technologies, Inc. | Rack robot |
| EP4296202A3 (en) | 2013-12-07 | 2024-03-06 | Trumed Systems, Inc. | Automated smart storage of temperature sensitive products |
| WO2015109315A2 (en) * | 2014-01-20 | 2015-07-23 | Brooks Automation, Inc. | Portable cryogenic workstation |
| US9630775B2 (en) * | 2014-03-28 | 2017-04-25 | Brooks Automation, Inc. | Sample selector |
| US9835640B2 (en) | 2015-02-13 | 2017-12-05 | Abbott Laboratories | Automated storage modules for diagnostic analyzer liquids and related systems and methods |
| EP3278041B1 (en) | 2015-03-30 | 2022-05-04 | Brooks Automation, Inc. | Automated cryogenic storage system |
| JP6905973B2 (en) * | 2015-07-20 | 2021-07-21 | ブルックス オートメーション インコーポレイテッド | Automated vault module |
| EP3353479B1 (en) * | 2015-09-24 | 2021-11-10 | Liconic Ag | Device for the low-temperature storage and the handling of probe tubes in tube racks |
| FR3051452B1 (en) * | 2016-05-17 | 2018-06-01 | Irelec | HANDLING AND STORAGE FACILITY OF VERY LOW TEMPERATURE BIOLOGICAL SAMPLES |
-
2019
- 2019-03-15 JP JP2020551347A patent/JP7321182B2/en active Active
- 2019-03-15 WO PCT/US2019/022519 patent/WO2019182900A1/en not_active Ceased
- 2019-03-15 EP EP19715608.6A patent/EP3768081B1/en active Active
- 2019-03-15 KR KR1020207030305A patent/KR102727709B1/en active Active
- 2019-03-15 CN CN201980032264.6A patent/CN112566497A/en active Pending
- 2019-03-15 US US16/354,993 patent/US11828516B2/en active Active
- 2019-03-15 SG SG11202009243SA patent/SG11202009243SA/en unknown
-
2023
- 2023-10-20 US US18/491,220 patent/US20240044576A1/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019182900A1 (en) | 2019-09-26 |
| US20190293344A1 (en) | 2019-09-26 |
| US11828516B2 (en) | 2023-11-28 |
| KR20200135462A (en) | 2020-12-02 |
| KR102727709B1 (en) | 2024-11-06 |
| US20240044576A1 (en) | 2024-02-08 |
| CN112566497A (en) | 2021-03-26 |
| JP2021519247A (en) | 2021-08-10 |
| EP3768081A1 (en) | 2021-01-27 |
| JP7321182B2 (en) | 2023-08-04 |
| EP3768081B1 (en) | 2024-07-24 |
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