Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
  • A61H1/02—Stretching or bending or torsioning apparatus for exercising
  • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
  • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/01—Constructive details
  • A61H2201/0107—Constructive details modular
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/12—Driving means
  • A61H2201/1207—Driving means with electric or magnetic drive
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/12—Driving means
  • A61H2201/1238—Driving means with hydraulic or pneumatic drive
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/16—Physical interface with patient
  • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
  • A61H2201/164—Feet or leg, e.g. pedal
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/16—Physical interface with patient
  • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
  • A61H2201/164—Feet or leg, e.g. pedal
  • A61H2201/1642—Holding means therefor
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/16—Physical interface with patient
  • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
  • A61H2201/165—Wearable interfaces
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
  • A61H2201/50—Control means thereof
  • A61H2201/5058—Sensors or detectors
  • A61H2201/5061—Force sensors
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
  • A61H2205/00—Devices for specific parts of the body
  • A61H2205/12—Feet

Definitions

• the invention relates to a device for moving limbs
• Limbs of patients with symptoms of paralysis One goal is to train the residual voluntary motor skills of e.g.
• Treadmill therapy of the patients whereby a movement pattern of the legs is generated via a driven orthosis, a treadmill and a relief mechanism.
• the orthosis is stabilized on the treadmill in such a way that the patient does not have to be able to walk completely and the entire body weight does not have to be carried by oneself.
• Automatic machines of this type are very reliable in their function, but as a major disadvantage they require a relatively large amount of space, which limits the usability for different applications or has undesirable effects with regard to the frequency of use and thus the success of rehabilitation.
• Another disadvantage of such machines is the fact that
• the object of the present invention is to provide a device for moving limbs with which
• the rehabilitation success can be significantly increased in a simple manner with a space-saving structure.
• This task is accomplished by a device with the
• Embodiments of the invention are specified in the subclaims.
• the above object is achieved by a device for moving limbs, in particular human
• At least one receiving unit which has a cavity with an opening and a bottom surface, a plurality of actuators being arranged on the bottom surface, a regulating and control unit with which the individual actuators can be controlled in such a way that cyclical movement patterns are generated, and / or at least one orthotic unit, which contains at least one support element and at least one force element, the orthotic unit and the receiving unit being connected via at least one joint.
• the device can be characterized in that cyclical movement patterns in the form of at least one
• Wavefront are formed, which are in a longitudinal direction, a transverse direction, and / or a combination of the above
• Stimulus patterns can also be generated in the diagonal direction by superimposing the longitudinal and transverse directions. With that a
• Stimulation of a part of the sole of the foot up to the complete The sole of the foot is generated in which a realistic stimulus pattern of a step is generated without an actual one
• the device can be optimized in such a way that it can be used in the home, since the space requirement is reduced.
• Stimulation of the sole of the foot creates a natural gait pattern without requiring the patient to actually appear. This allows the patient to do training sessions preferably in
• the device can be characterized in that the orthotic unit can be connected to a further orthotic unit via at least one joint. This gives the advantage of additional limbs of the extremity
• the force element of the device can be controlled with the help of the regulating and control unit in such a way that it generates a relative movement between at least one orthotic unit and a further orthotic unit and / or the receiving unit. This allows the
• the orthotic unit can be at least one
• the receiving unit of the device can have at least one adaptation means on at least one inner surface, which can be regulated by means of the regulating and control unit in such a way that a predetermined one on the inner surface of the
• Adaptation unit essentially vertical force can be generated.
• the value of the predetermined force can be constant, time-based and / or
• event-based variable value can be set. This can ensure that the pressure from the
• Adaptation unit is exerted on the surface of the limbs, can be regulated so that the emergence of
• Pressure points and other injuries such as abrasion on the patient's limbs can be prevented.
• the generation of a constant surface force can prevent the risk of pressure points on the patient's limbs due to volume changes in the limbs during the movement. Furthermore, such ensures
• Adaptation means an adaptive fixation of the limb in the receiving unit, depending on the extension / volume of the limb, which creates a large-area connection.
• the limb located in the receiving unit can be pressed onto the bottom surface of the receiving unit by the adaptation means. This has the advantage that the
• Limb stimulation which is formed by the movement pattern in the form of at least one wavefront that propagates in the floor surface, can be intensified.
• the fastening means of the device can have at least one adaptation means, which can be and the control unit can be controllable in such a way that a predetermined, on a surface of the fastener in the
• Essentially vertical force can be generated.
• the wearing comfort of the entire device for the patient can thus be increased in a particularly simple manner.
• the device can be characterized in that the actuators used, the force elements and the adaptation means are pneumatic, hydraulic, mechanical
• the device can take up at least one acre in the receiving unit, take up at least one distal extremity section in a first orthotic unit, and at least one proximal one in a second orthotic unit
• the device can be characterized in that the geometric dimensions of the receiving unit and / or the orthotic unit can be infinitely and / or discretely adjustable. The adaptability of the device to the anatomical conditions of different patients can thus be increased further.
• the device can be characterized in that the receiving unit for receiving a foot, a first _
• Orthosis unit for receiving a lower leg and a second orthotic unit for receiving a thigh, wherein the force that can be generated by the adjustment means located in the receiving unit on at least a part of the foot surface and the force that in the
• Fastening means can be generated on at least part of the surface of an adapter
• the device can be characterized in that a further joint can be provided on a second orthotic unit such that the entire device has at least one rotational degree of freedom. As a result, the entire device can be moved around in a particularly simple manner
• a vertical axis can be pivoted so that access to the device is made easier, especially for wheelchair users.
• the device can be characterized in that at least one seat is provided, which can be adjusted with the aid of
• Level elements can be adjustable in height. Additionally or alternatively, the seat can have a seat back that over
• Adjustment elements can be varied in their inclination. During the movement of the orthotic units towards each other, this becomes
• Hip joint is only moved passively.
• the range of motion of the hip angle for example
• the present device can be used by patients in a seated position, which extends the duration of the individual training units.
• the space-saving design means that the device can be used in the home.
• Figure 1 shows the overall structure of the limb moving device
• Figure 2 shows the schematic structure of a
• Figure 3 shows the basic stimulus pattern generation in an extremity
• Figure 4 is a sectional view of the receiving unit
• Figure 5 shows an overview of the device components
• Figure 6 shows an illustration of a base unit
• Figure 7 shows an illustration of a base unit with the
• Figure 8 shows an image of the base unit with the knob roll option.
• a receiving unit 51 is connected to a first orthotic unit 56 via a first joint 59. Furthermore, this first orthotic unit 56 is connected to a second orthotic unit 56 via a second joint 59.
• the mentioned orthotic units 56 each have support elements 57 which function as the load-bearing basic structure of the orthotic units 56. There are two each on the orthotic units 56
• Force elements 58 are arranged, the force elements 58 being firmly connected to the respective support element 57 at a first end and being connected to the support element 57 at a second end such that a linear one
• the second end can be moved relative to the support element 57.
• two force elements 58 are connected to each other at their second ends via, for example, a toothed belt.
• the toothed belt is deflected via a roller. This pulley is connected to a
• the force elements on the first orthotic unit 56 are able to apply tensile forces in order to bend the
• Receiving unit 51 relative to the first orthotic unit 56 produce.
• the force elements on the second orthotic unit 56 are capable of applying tensile forces in order to produce an angling in the first orthotic units 56 to the second orthotic unit.
• Orthotic units 56 are provided with fastening means 60, with each of which an orthotic unit 56 can be attached to a limb of a patient.
• Force elements 58 are provided on the second orthotic unit 56, the force elements 58 being connected at a first end to the support elements 57 of the orthotic units 56 and at another end via a connecting element to the first orthotic unit 56 via a connecting element such that when a Traction in
• Orthotic unit 56 takes place opposite the second orthotic unit 56.
• the force elements 58 shown in FIG. 1 are artificial, pneumatic muscles which can exert a tensile force by contraction in the longitudinal direction. This tensile force sets the toothed belt, which connects two force elements 58, in motion. The static friction between the toothed belt and the deflection roller generates a rotary movement of the deflection roller. Due to the
• the joint executes such a rotational movement that a pivoting movement of the receiving unit 51 relative to the first orthotic unit 56 and a pivoting movement of the
• Orthotic units 56 to each other is performed.
• further force elements 58 are arranged, which by contraction in Longitudinal direction can produce a movement opposite to the first.
• the force elements can be designed as mechanical, pneumatic, hydraulic and / or electrical force elements.
• electrical force elements are located within the joints 59 and carry out the movements described above.
• the support elements 57 are formed from profiled aluminum. In further embodiments of the invention, not shown, the profiles of the support elements 57 can be square, circular or U-shaped. In another
• the support elements 57 can be formed from plastic.
• the fastening means 60 are molded from plastic and include an adjustable locking mechanism.
• Force element valves 64 are controlled such that the pressure at the pneumatic force elements 58 can be varied via force element pressure lines 63 such that
• Embodiment may be one instead of the accumulator 65
• Pressure supply source can be connected to the device.
• the regulation of the force element valves 64 takes place as a function of sensor signals from the force element sensors 62 and
• Actuator valves 68 are controlled in such a way that the pressure and thus the extent in the actuators 54 can be varied.
• the actuator sensor 66 delivers a signal to the regulating and control unit 55, which controls the actuator valves 68.
• Adaptation means valve 70 is provided, which via a
• Pressure line 71 is connected to the adaptation means 61 and can be operated in a regulated manner via the regulating and control unit 55.
• the regulating and control unit 55, the force element valves 64 and the pressure accumulator 65 are provided in a housing 76 which is connected to a seat 73 at its upper end via level elements 77.
• the level elements 77 can be controlled in such a way that the seat 73 can vary its height in relation to the contact surface of the device on which the entire device rests.
• the housing is in contact with the contact surface in FIG.
• the displacement elements 78 are designed in the form of rollers. In a further embodiment, not shown, the displacement elements 78 can be wheels, runners and / or
• housing 76 is a
• Control / display instrument 74 in connection with which the patient can specify parameters to the regulating and control unit 55, and / or information relating to the training or
• Can read equipment states This enables the patient to be shown the current training success for self-control in the form of a feedback function.
• the patient can exert a force on the orthotic units 57 through his own, voluntary or involuntary movement of the muscles. This results in setpoint deviations in the force elements 58 and joints 59, which are detected via the force element sensors 62 and the rotation angle sensors 72 and are assessed as positive or negative participation of the patient.
• the patient receives feedback, on an operating / display instrument, about the correctness and / or quality of his cooperation.
• the device also contains the possibility of recording relevant data on the course of the training and, if necessary, reading it out using telemetric methods.
• the receiving unit 51 stands over another
• Orthotic unit 56 with respect to the second orthotic unit 56, the friction between the receiving unit 51 and the
• Footprint can be significantly reduced.
• a linear guide mechanism can be used instead of the displacement element 78
• the receiving unit 51 can be guided linearly in a controlled manner relative to the contact surface. This can prevent the device from tipping sideways.
• the joints 59 are with rotation angle sensors 72 in
• Fastening means 60 adapting means which are adjustable for adjusting the fastening means 60 on the limbs of the respective patient.
• the adjustment means regulations 75 for the adjustment means have a measuring and an actuator with which the pressure in the adjustment means can be constantly adjusted by the patient. The pressure is not checked via the regulating and control unit 55. In another, not shown In the exemplary embodiment, the pressure in the adaptation means can be regulated by the regulating and control unit 55.
• Figure 2 shows a longitudinal section through the receiving unit 51.
• the receiving unit 51 has an opening 52 through which a foot can be inserted.
• actuators 54 are provided which run transversely to the longitudinal direction of the recording unit 51.
• the actuator valves 68 can be controlled via the regulating and control unit 55 in such a way that pressure fluctuations can occur in the individual actuators 54.
• a foot located in the receiving unit 51 which rests on the bottom surface 53, thereby experiences a force pulse. Due to the separate controllability of the individual actuators 54, a force as a function of place and time can be variably applied to the sole of the foot
• the actuators 54 are in the form of high-strength hoses placed next to one another
• adjacent and / or non-adjacent actuators 54 can optionally be controlled simultaneously or individual actuators 54 independently of one another. In a further, not shown embodiment of the
• Mini cylinders can be executed.
• An adaptation means 61 is provided on the inner surface of the receiving unit 51 in the regions that do not form the bottom surface 53.
• the adaptation means 61 is via a
• Adjustment means valve 70 connected, which is connected to the regulating and control unit 55.
• Adjustment means sensor 69 the pressure in the
• Adaptation means 61 can be regulated arbitrarily, so that a
• Activation with the aid of the regulating and control unit 55 of these actuators arranged in the longitudinal direction can be local and
• Actuators can be generated from a combination of a longitudinal and / or transverse location and time-dependent force curve.
• a pressure measuring film can be provided in order to be able to record the actual pressure at any point on the sole of the foot.
• Figure 3 shows schematically the generation of a
• the actuators 54 are in the form of
• a location and time-dependent force function can be applied to the Sole of the foot can be applied.
• any force curve can be realized, but preferably the force spreads in the form of a wavefront from the heel area to the area of the toes over the entire sole of the foot.
• the actuators 54 are arranged in the form of hoses lying side by side, two adjacent hoses having different lengths.
• FIG. 4 shows the sectional view of the receiving unit 51 along a section line B-B, which is shown in FIG. 2.
• the actuators 54 are arranged on the bottom surface and can be controlled via the actuator valves 68 as a function of a sensor signal that is received by a regulating and control unit 55.
• An adjustment means 61 generates a force on a foot or hand that is located between the actuators 54 and a surface of the adjustment means 61. As a result, the force generated by the actuator 54 can be further increased, for example on a sole of the foot or on the palm of a hand.
• the invention further includes the following aspects.
• Stroke The restoration of walking ability is of central importance, the high importance of this ability is obvious.
• intensive mobilization is also of central therapeutic and functional importance in other patient groups, such as orthopedic or geriatric patients who have had a long immobilization phase.
• physiotherapy measures are mainly important for the success of rehabilitation. The most extensively examined is the locomotion training using a treadmill at incomplete
• Gait robot an active standing board or manually supported. Automatic locomotion therapy should be preferred due to the strain on the therapist, the non-reproducible gait pattern and the time limit.
• Movement tractors for example, to relax the muscles or to reduce spastic reactions.
• Electrical and / or pneumatic drives can be used to generate independent movements in several joints.
• Handling and modular structure can be characterized by, the device components, base unit, option
• Base plate knobbed roll option, computer and power supply can be labeled.
• the base unit can be replaced by a
• Thigh orthosis 1 drives 2, 3 at the fastening points 4, 5 and the fastening points 6 for the extension arm 7
• the device with the footplate option can be operated by means of the electric or pneumatic drive 21 one of the lower leg orthoses 13 in the fastening points 20, 22 fastened movably mounted 23, 27 base plate 26
• Force sensors 24, 25 may be labeled.
• the device with the option knob roller by means of electrical or pneumatic drives 32, 33 with drive belt or rod 34 via one on the
• the device can be implemented by implementing controls, regulations and trajectory generation
• the device can be characterized by the space-saving provision and distribution of the energy supply for the electrical and / or pneumatic drives in accordance with the signals generated by the computer.
• reference numeral 1 denotes one
• the reference number 2 designates an (el., Pneumatic) drive, which is connected to a computer, for rotating the lower leg orthosis.
• the reference number 3 denotes an optional (el., pneumatic) drive, which is connected to a computer, for rotating the lower leg orthosis.
• Reference numeral 4 denotes attachment points for driving the lower leg orthosis.
• Reference numeral 6 denotes
• Attachment points for attaching the arm 7 to a thigh orthosis designates one
• Reference numeral 8 denotes an optional drive belt or a drive rod.
• Reference numeral 9 denotes a drive belt or one
• Reference numeral 10 denotes a rotary encoder which is connected to a computer.
• Reference number 11 denotes a rotary encoder which is connected to a computer.
• the reference numeral 12 denotes the boom of one
• the reference numeral 13 denotes a lower leg orthosis.
• Reference numeral 14 denotes the
• reference numeral 1 denotes one
• the reference numeral 2 designates an (el., Pneumatic) drive which is connected to a computer for
• Reference numeral 4 denotes attachment points for driving the lower leg orthosis.
• Reference numeral 6 denotes
• Attachment points for attaching the arm 7 to a thigh orthosis designates one
• Reference numeral 8 denotes an optional drive belt or a drive rod.
• Reference numeral 9 denotes a drive belt or one
• Reference numeral 10 denotes a rotary encoder which is connected to a computer.
• Reference number 11 denotes a bearing with a rotational degree of freedom.
• the reference numeral 12 denotes the boom of one
• the reference numeral 13 denotes a lower leg orthosis.
• Reference numeral 14 denotes the
• Reference numeral 20 denotes an attachment point of the footplate drive.
• the reference numeral 21 denotes an (el., Pneumatic) drive of the footplate, which is connected to a computer.
• Reference numeral 22 denotes fastening points of the guide of the footplate.
• Reference numeral 23 denotes the leadership of the
• Reference numeral 24 denotes a force sensor which is connected to a computer.
• Reference numeral 25 denotes an optional force sensor, which is connected to a computer.
• Reference numeral 26 denotes the base plate.
• Reference numeral 27 denotes a single-valued bearing.
• reference numeral 30 denotes the attachment points of the drive of the stimulus option.
• Numeral 31 denotes the attachment points of the drive of the stimulus option.
• Reference numerals 32 and 33 denote (el., Pneumat.) Drive of the stimulus option, which is connected to a computer.
• Numeral 24 denotes a drive belt or a drive rod.
• Reference numeral 35 denotes a rotary encoder which is connected to a computer.
• Reference numeral 36 denotes a bearing with a rotational degree of freedom.
• Reference numeral 37 denotes one
• Knob roller suspension denotes a cross bar which is fixedly connected to the foot stimulation option.
• Reference numeral 39 denotes a force sensor which is connected to a computer.
• Numeral 40 denotes a spring.
• Reference numeral 41 denotes an optional force sensor which is connected to a computer.
• Numeral 42 denotes a knob roller.
• Reference numeral 43 denotes an (el., Pneumat.) Drive of a knob roller, which is connected to a computer.
• Numeral 44 denotes a single-valued bearing.

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• Health & Medical Sciences (AREA)
• Epidemiology (AREA)
• Pain & Pain Management (AREA)
• Physical Education & Sports Medicine (AREA)
• Rehabilitation Therapy (AREA)
• Life Sciences & Earth Sciences (AREA)
• Animal Behavior & Ethology (AREA)
• General Health & Medical Sciences (AREA)
• Public Health (AREA)
• Veterinary Medicine (AREA)
• Rehabilitation Tools (AREA)
• Motorcycle And Bicycle Frame (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
• Manipulator (AREA)

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• 2005
  • 2005-12-09 DE DE102005059342A patent/DE102005059342A1/de not_active Withdrawn
• 2006
  • 2006-12-08 AT AT06829446T patent/ATE458463T1/de active
  • 2006-12-08 EP EP06829446A patent/EP1959909B1/fr not_active Not-in-force
  • 2006-12-08 DE DE502006006282T patent/DE502006006282D1/de active Active
  • 2006-12-08 WO PCT/EP2006/011850 patent/WO2007065706A1/fr not_active Ceased

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