• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method is described for simulating an endoscopy by means of an endoscopic simulator (10) comprising a monitor (3), a processing unit (2) connected to said monitor (3), an introduction tube (4), a scanning chamber (1) provided with an opening (5) for inserting said introduction tube (4) and means (6) to determine the position of said introduction tube (4) inside said chamber exploration (1), said method comprising a step a) of providing a virtual model of a cavity of a human or animal body comprising a virtual exploration space confined by at least one virtual wall, a step b) of providing a virtual model of an endoscopic probe, a step c) of determining the actual position of the introduction tube (4) inside the scanning chamber (1), a step d) of detecting at least one displacement of the introduction tube (4) inside said exploration chamber action (1), a step e) of determining a transformation factor, a step f) of calculating at least one force vector by applying said transformation factor to said displacement, a phase g) of applying said at least one force vector to said virtual model of the endoscopic probe to generate at least one virtual movement of the endoscopic probe within said virtual exploration space, a phase h) to determine the virtual position of the endoscopic probe within the virtual space a phase i) to calculate the difference between said virtual position of the endoscopic probe and said actual position of the introduction tube (4) and a phase j) of correcting the transformation factor as a function of said difference if said difference exceeds a given threshold value.
    公开号:CH712304A2
    申请号:CH00343/17
    申请日:2017-03-20
    公开日:2017-09-29
    发明作者:Cassina Tiziano；Casso Gabriele；Veragouth Pietro；Codoni Maurizio
    申请人:Found For Cardiological Res And Education - Fcre；
    IPC主号:
    专利说明:

    Description
    Field of the invention [0001] The present invention concerns a method for simulating an endoscopy. In particular, the present invention is mainly used in endoscopic simulators typically used in educational and / or training activities for medical personnel.
    Prior art known [0002] Endoscopic simulators are known by which it is possible to simulate an endoscopy of a human or animal cavity. Typically, endoscopic simulators comprise an exploration chamber provided with an opening into which an endoscopic probe is inserted. The endoscopic probe is typically a model, ie a reproduction of a real endoscopic probe.
    [0003] These simulators comprise a processing unit and a monitor through which images of a virtual model of the human or animal cavity of which the endoscopy is to be simulated are shown. By measuring the position taken by the endoscopic probe inside the exploration chamber, the simulator provides images of the interior of the virtual cavity as if they were taken by a camera placed on the end of the endoscopic probe. In other words, by moving the model of the endoscopic probe inside the exploration chamber, it is possible to virtually explore the human or animal cavity by displaying on the monitor the images of the virtual model according to the actual position assumed by the probe inside the exploration chamber .
    [0004] Such simulators are very useful in the training activities of medical personnel, who having to perform an endoscopic examination, such as a bronchoscopy, a gastroscopy, etc., require a certain skill in moving an endoscopic probe inside a human cavity. An insufficiently trained operator could cause serious damage to a patient under examination. The walls of a human or animal cavity can be very delicate so, following a collision with the endoscopic probe, they could be punctured causing hemorrhage.
    [0005] Endoscopic simulators are typically provided with a mechanical actuator which imparts a force on the probe model in response to a virtual probe collision with a wall of the virtual cavity model. The processing unit detecting a collision between the virtual probe and a virtual wall of the cavity activates the mechanical actuator which brakes and / or blocks the passage of the probe in the exploration chamber.
    [0006] However, the known simulators present some problems due to an inexact correspondence between the actual position of the probe inside the scanning chamber and the virtual position of the probe inside the simulated virtual cavity. In particular, during an endoscopy simulation, some approximations made by the simulator processing unit can cause small deviations between the actual position of the probe inside the exploration chamber and the virtual position of the probe within the space of virtual exploration of the simulated cavity. Such errors accumulating during the simulation can become not negligible so as to make the simulation unreliable and / or inaccurate. To solve such problems, a solution could be to use a processing unit with very high computing power to have minimum approximations that lead to an acceptable error.
    [0007] However, in other cases, this solution also fails to solve the problem. In particular, the non-instant response of the mechanical actuator to a collision detection can produce an error between the position of the real probe and the position of the virtual probe. For example, if the operator moves the probe against a virtual wall of the cavity, the mechanical actuator will be able to block the advancement of the endoscopic probe with a certain delay from the collision detection. Between the instant in which the collision is detected and the time in which the real probe is blocked by the mechanical actuator, the real probe could be moved beyond the virtual wall. In other words, the real probe would be inserted at a greater depth than the virtual one. Also this error accumulating during the simulation could become not negligible and cause problems to the simulation.
    Summary of the invention [0008] The object of the present invention is to overcome the problems of the prior art briefly discussed above, and to provide a method for simulating an endoscopy capable of providing a reliable and precise simulation.
    [0009] A further object of the present invention is to provide a method for simulating an endoscopy capable of being performed also by endoscopic simulators provided with a processing unit having a lower computing power than the known prior art.
    [0010] These and further objects are solved by the present invention by a method for simulating an endoscopy according to claim 1, and the related dependent claims.
    [0011] In particular, the method according to the present invention can be carried out by an endoscopic simulator comprising a monitor, a processing unit connected to said monitor, an introduction tube, an scanning chamber provided with an opening for the insertion of said introduction tube and means for determining the position of said introduction tube within said scanning chamber. In particular, the method according to the present invention comprises the steps of: a) providing a virtual model of a cavity of a human or animal body comprising a virtual exploration space confined by at least one virtual wall; b) make available a virtual model of an endoscopic probe; c) determining the actual position of the introduction tube inside the exploration chamber; d) detecting at least one movement of the introduction tube within said scanning chamber; e) determining a transformation factor; f) calculating at least one force vector by applying said transformation factor to said displacement; g) applying said at least one force vector to said virtual model of the endoscopic probe to generate at least one virtual movement of the endoscopic probe within said virtual exploration space; h) determine the virtual position of the endoscopic probe within the virtual space; i) calculating the difference between said virtual position of the endoscopic probe and said actual position of the introduction tube; j) correcting the transformation factor as a function of said difference if said difference exceeds a given threshold value.
    [0012] Advantageously, step i) and j) allow to compensate for any errors that may occur during an endoscopic simulation without the need to use a processing unit having high computing power. In particular the error compensation occurs by acting on the transformation factor by means of which the force vector applied to the virtual model of the endoscopic probe is calculated. This feature makes it possible to obtain a precise and fluid simulation without the photogram jumps which can occur, for example, correcting the error by repositioning the virtual probe in correspondence with the real position of the introduction tube.
    [0013] The present invention, in the aforementioned aspect, can have at least one of the preferred characteristics described below.
    [0014] Preferably, step i) of calculating the difference between said virtual position of the endoscopic probe and said actual position of the introduction tube is carried out periodically with a determined frequency.
    [0015] Advantageously, said endoscopic simulator comprises means for braking and / or locking said introduction tube, said method further comprising the steps of: k) detecting at least one collision between the virtual model of the endoscopic probe and said at least one virtual wall; l) activating the means for braking and / or locking the introduction tube in response to said at least one detected collision.
    [0016] Preferably, step i) of calculating the difference between said virtual position of the endoscopic probe and said actual position of the introduction tube is carried out following said step 1) of activating the means for braking and / or locking the tube of introduction.
    [0017] According to an advantageous aspect of the present invention, the step of correction of the transformation factor is carried out by modifying said transformation factor into a plurality of phases j2), each phase j2) being carried out in a simulation cycle.
    [0018] Preferably, said actual position of the introduction tube comprises the value of the angle of rotation of said introduction tube around its own longitudinal axis, and the value of the distance between said opening and the end of the insertion tube inserted into the interior of the exploration chamber.
    [0019] Preferably, said virtual model of said endoscopic probe is configured to simulate a fiberscope.
    [0020] Advantageously, said means for determining the position of the introduction tube comprise an optical sensor or a laser sensor.
    [0021] Preferably, said means for braking and / or locking said introduction tube comprise an electric motor and an eccentric element arranged at said opening or a solenoid or other electromechanical systems.
    [0022] Thanks to these aspects it is possible to simulate in a reliable and precise way an endoscopy of a human or animal cavity without the need to use expensive endoscopic simulators equipped with processing units with high computing power.
    Brief description of the drawings [0023] Further aspects and advantages of the present invention will become clearer from the following description, given for illustrative and not limitative purposes, with reference to the attached schematic drawings, in which: fig. 1 is a schematic view of an endoscopic simulator adapted to implement a particular embodiment of the method according to the present invention; fig. 2 is a flow chart of a particular embodiment of the method according to the present invention.
    Embodiments of the invention [0024] In fig. 1 shows an schematic endoscopic simulator 10 comprising an exploration chamber 1, a monitor 3 and a processing unit 2 connected to the monitor 3. The scanning chamber is provided with an opening 5 for the insertion of an introduction tube 4.
    [0025] The introduction tube 4 is shaped to reproduce, as realistically as possible, an endoscopic probe, preferably a fiberscope. Inside the scanning chamber 1 there are means 6 for determining the position P of the introduction tube 4 inside the scanning chamber 1. Preferably, the means 6 for determining the position of the introduction tube 4 comprise a laser sensor provided. of a detector 6a and a laser 6b.
    [0026] The processing unit 2 is connected to the means 6 and determines the position P of the introduction tube 4 inside the scanning chamber 1. Preferably the position P comprises a pair of values (x, a). Where the value of x represents the distance traveled by the end 4a of the introduction tube 4 taking as a reference point the opening 5 of the scanning chamber 1. In other words, x can be defined as a geometric coordinate taken on the longitudinal axis of the introduction tube 4, taking as its origin the opening 5 of the scanning chamber 1. In this case, x is indicative of the length of the portion of the introduction tube 4 inserted inside the scanning chamber 1.
    [0027] The value a represents the angle of rotation of the introduction tube 4 around its own longitudinal axis. Preferably the angle a is determined with respect to a predetermined position of the introduction tube, for example with respect to the position assumed by the introduction tube 4 at the beginning of the simulation.
    [0028] The processing unit transmits on the monitor 3 the images of a virtual model of a human cavity of a human or animal body, as if they were taken by a video camera placed on the 4a end of the introduction tube 4.
    [0029] The processing unit 2 is further provided with a virtual model of an endoscopic probe, preferably a fiberscope. The virtual model of the endoscopic probe is positioned within a virtual exploration space confined by at least one virtual wall. Therefore, in a manner known per se in the art, it is possible to move the endoscopic probe within the virtual exploration space, applying to it at least a force vector F. In particular, with algorithms known in the art it is therefore possible to simulate the movement of the virtual probe within the virtual exploration space by applying to the virtual model of the probe one or more force vectors F for example to push and / or rotate the probe axially as if the force vector F were applied by a user.
    [0030] The endoscopic simulator 10 further comprises means 7 for braking and / or locking the introduction tube 4. In particular, as explained above, in the case of a collision between the virtual probe and a virtual wall of the virtual exploration space, the means 7 simulate the collision by acting on the introduction tube 4. Preferably, the means 7 comprise an electric motor 7a and an eccentric element 7b arranged at the opening 5. Further embodiments may however provide that the means 7 comprise a solenoid with a rubber brake or other electromechanical devices known in the art.
    [0031] In fig. 2 shows a flow chart of a preferred embodiment of the method according to the present invention. In particular, the method comprises a step a) of making available the virtual model of a cavity of a human or animal body and a step b) of providing a virtual model of an endoscopic probe. In fig. 2 the phases a) and b) are not shown, and in particular the flow chart shows the steps performed by the processing unit 2 of the endoscopic simulator 10.
    [0032] As previously explained, the processing unit 2 determines the actual position P of the introduction tube 4 inside the scanning chamber I. This step is indicated in the flow chart with the reference c).
    [0033] Step d) of the method provides to detect the displacement Δ of the introduction tube 4 inside the scanning chamber 1. In particular, during step d), the processing unit 2 processes the position P determined during the phase c) and detects if a movement of the introduction tube 4 has occurred. For example, if the value of x and / or a is changed, the processing unit 2 detects the displacement Δ of the introduction tube 4, and in this case calculates a pair of values (Δχ, Δα) with which the displacement Δ of the introduction tube 4 is indicated. Therefore, if the introduction tube 4 is not moved, the displacement Δ is not detected and the step d) of the method is not carried out.
    [0034] The movement of the virtual model of the endoscopic probe within the virtual exploration space takes place by applying at least one force vector F to the model of the endoscopic probe. In particular, during step e) of the method, the processing unit 2 determines a transformation factor T with which to obtain the force vector F starting from the displacement Δ detected in step d).
    [0035] In particular, during step f) of the method, the transformation factor T is applied to the displacement Δ. In this way the processing unit 2 calculates the force vector F to be applied to the virtual model of the endoscopic probe to simulate the force that the user has impressed on the introduction tube 4 which caused the displacement Δ. Preferably the force vector F is calculated as a result (output) of one or more mathematical formulas, known per se in the art, in which the transformation factor T and the displacement Δ are the input variables.
    [0036] During phase g) of the method, the force vector F calculated during phase f) is applied to the virtual model of the endoscopic probe. In this way the virtual probe model is moved inside the virtual exploration space and on the monitor 3 the images of this simulated virtual movement are transmitted.
    [0037] During phase h) the virtual position Q of the virtual model of the endoscopic probe is determined. The virtual position Q is defined analogously to the real position P. In this case, the virtual position Q includes the coordinates of the end of the virtual probe within the virtual exploration space and the angle of rotation around the longitudinal axis of the virtual probe.
    [0038] Preferably, the origin of the virtual exploration space corresponds to the position x assumed by the introduction tube at the opening 5.
    [0039] In step i) of the method the difference D between the virtual position Q of the virtual model of the endoscopic probe and the real position P of the introduction tube is calculated. Preferably the difference D is defined as a pair of values comprising the difference between the distance traveled by the virtual probe with respect to the x value of the actual position P assumed by the introduction tube 4 and the difference between the rotation angle assumed by the virtual probe with respect to the 'angle a of the same position P determined in the previous phase phase c) of the method.
    [0040] In step j) of the method the processing unit 2 corrects the transformation factor T as a function of the difference D if the difference D exceeds a given threshold value V. If the value of the difference is less than or equal to the value of threshold V the processing unit returns to step d) to start a new simulation cycle. In particular, step j) comprises a step jl) of comparing the difference D with the threshold value V and a phase j2) of correcting the transformation factor T as a function of the difference D. The correction of the transformation factor allows to calculate in the subsequent simulation cycle an adequate force vector such that the generated virtual movement compensates for the difference D.
    [0041] Preferably, the step of correcting the transformation factor T is carried out in a plurality of phases j2), and each phase j2) is carried out in a respective simulation cycle. In this way the correction is carried out in a nuanced manner, ie the correction takes place gradually over time, reducing the difference D and bringing it below the threshold value V.
    [0042] The method further comprises step k) of detecting at least one collision between the virtual model of the endoscopic probe and a virtual wall of the virtual exploration space. Phase k) is subsequent to step g) of applying the force vector F to the virtual probe and generating the virtual movement of the probe and at step h) of determining the virtual position Q of the virtual endoscopic probe. Collision detection preferably occurs by comparing the coordinates of the virtual probe with the coordinates of the virtual cavity walls within the virtual exploration space. When the distance between the aforementioned coordinates is zero or less than a threshold value, the processing unit 2 detects a collision and controls, in the subsequent phase 1) of the method, the activation of the means 7 to brake and / or block the introduction tube 4, so as to simulate the impact with a cavity wall. The means 7 are preferably deactivated in a step m) following step 1). Preferably phase 1) is carried out for a predetermined time interval as a function of the virtual position Q of the virtual probe with respect to the virtual wall.
    [0043] Preferably, step i) of calculating the difference D is performed periodically with a given frequency. For example phase i) can be performed during each simulation cycle or every two or more simulation cycles. In other words, some embodiments of the method according to the present invention may provide that step i) is not carried out in some simulation cycles. Then, after phase k), if a collision is not detected, the method may envisage passing to phase i) or, if the simulation cycle does not envisage performing phase i), the method involves returning to phase c) to start a new simulation cycle (as indicated by the dashed arrow in fig. 2).
    [0044] Preferably phase i) is always carried out following phase k) in the event that a collision is detected. Preferably, step i) is performed following step 1) of activating the means 7 for braking and / or locking the introduction tube 4. More preferably, step i) is performed following the step m) of deactivating the means 7 to brake and / or lock the introduction tube 4.
    [0045] In this way, the correction of possible errors due to the difference D between the real position P and the virtual position Q can be performed as few times as possible so as to obtain a correct simulation without having to have a unit of processing 2 with high computing power.
    [0046] In general, the method for simulating an endoscopy according to the present invention comprises the steps of:
    权利要求:
    Claims (8)
    [1]
    a) providing a virtual model of a cavity of a human or animal body comprising a virtual exploration space confined by at least one virtual wall; b) make available a virtual model of an endoscopic probe; c) determining the actual position (P) of the introduction tube (4) inside the scanning chamber (1); d) detecting at least one displacement (Δ) of the introduction tube (4) inside said exploration chamber (1); e) determining a transformation factor (T); f) calculate at least one force vector (F) by applying said transformation factor (T) to said displacement (Δ); o) applying said at least one force vector (F) to said virtual model of the endoscopic probe to generate at least one virtual movement of the endoscopic probe within said virtual exploration space; h) determine the virtual position (Q) of the endoscopic probe within the virtual space; 0 calculating the difference (D) between said virtual position (Q) of the endoscopic probe and said real position (P) of the introduction tube (4); j) correcting the transformation factor (T) as a function of said difference (D) if said difference (D) exceeds a given threshold value (V). [0047] Preferably, step i) of calculating the difference (D) is carried out periodically with a determined frequency (for example greater than or equal to once every two simulation cycles). [0048] More preferably, step i) of calculating the difference D is carried out following step 1) of activating the means 7 for braking and / or locking the introduction tube 4 in response to a detected collision. [0049] In a preferred embodiment the step j) correcting the transformation factor T as a function of the difference D is carried out by modifying the transformation factor T in a plurality of phases j2) in which, each phase j2) is executed in a simulation cycle. claims
    1. A method for simulating an endoscopy by means of an endoscopic simulator (10) comprising a monitor (3), a processing unit (2) connected to said monitor (3), an introduction tube (4), a chamber of exploration (1) provided with an opening (5) for the insertion of said introduction tube (4) and means (6) to determine the position of said introduction tube (4) inside said scanning chamber (1), said method comprising the steps of: a) providing a virtual model of a cavity of a human or animal body comprising a virtual exploration space confined by at least one virtual wall; b) make available a virtual model of an endoscopic probe; c) determining the actual position (P) of the introduction tube (4) inside the scanning chamber (1); d) detecting at least one displacement (Δ) of the introduction tube (4) inside said exploration chamber (1); e) determining a transformation factor (T); f) calculate at least one force vector (F) by applying said transformation factor (T) to said displacement (Δ); g) applying said at least one force vector (F) to said virtual model of the endoscopic probe to generate at least one virtual movement of the endoscopic probe within said virtual exploration space; h) determine the virtual position (Q) of the endoscopic probe within the virtual space; i) calculating the difference (D) between said virtual position (Q) of the endoscopic probe and said real position (P) of the introduction tube (4); j) correcting the transformation factor (T) as a function of said difference (D) if said difference (D) exceeds a given threshold value (V).
    [2]
    2. Method according to claim 1, wherein said step i) of calculating the difference (D) is carried out periodically with a determined frequency.
    [3]
    3. Method according to claim 1 or 2, wherein said endoscopic simulator (10) comprises means (7) for braking and / or locking said introduction tube (4), said method further comprising the steps of: k) detecting at least one collision between the virtual model of the endoscopic probe and said at least one virtual wall; l) activating the means (7) to brake and / or lock the introduction tube (4) in response to said at least one collision detected; said step i) to calculate the difference (D) between said virtual position (Q) of the endoscopic probe and said real position (P) of the introduction tube (4) being carried out following said step 1) to activate the means (7 ) to brake and / or lock the introduction tube (4).
    [4]
    4. Method according to any one of the preceding claims, in which the correction of the transformation factor (T) is carried out by modifying said transformation factor (T) in a plurality of phases j2), each phase j2) being carried out in a simulation cycle .
    [5]
    5. Method according to any of the previous claims, wherein said real position (P) of the introduction tube comprises the value of the angle of rotation (a) of said introduction tube (4) about its own longitudinal axis, and the value (x) of the distance between said opening (5) and the end (4a) of the introduction tube (4) inserted inside the scanning chamber (1).
    [6]
    6. Method according to any of the previous claims, wherein said virtual model of said endoscopy probe is configured to simulate a fibroscope.
    [7]
    7. Method according to any of the previous claims, wherein said means (6) for determining the position (P) of the introduction tube (4) comprise an optical sensor (6a) or a laser sensor (6a, 6b).
    [8]
    8. Method according to any one of claims 3 to 7, wherein said means (7) for braking and / or locking said introduction tube (4) comprise an electric motor (7a) and an eccentric element (7b) arranged in correspondence with of said opening (5).
    类似技术:
    公开号 | 公开日 | 专利标题
    JP2017510826A5|2018-02-01|
    Kortier et al.2014|Hand pose estimation by fusion of inertial and magnetic sensing aided by a permanent magnet
    JP2016190022A5|2019-03-07|Biological information measuring device, biological information measuring method, and biological information measuring program
    Venture et al.2008|Motion capture based identification of the human body inertial parameters
    CA3040353C|2020-01-14|Measurement ring for a mannequin and simulator interacting therewith
    EP2169422A1|2010-03-31|System and method for acoustic tracking an underwater vehicle trajectory
    CA2980684A1|2016-11-03|System and method for training dentists in endodontic treatment techniques
    Haghighipanah et al.2016|Unscented kalman filter and 3d vision to improve cable driven surgical robot joint angle estimation
    JP2008528105A5|2009-02-05|
    CH712304A2|2017-09-29|Method for simulating an endoscopy.
    Dadashi et al.2013|Gaussian process framework for pervasive estimation of swimming velocity with body-worn IMU
    EA201991719A1|2020-01-16|METHOD FOR MEASURING shape, dimensions and elastic properties of the inner surface HOLLOW OBJECTS, METHOD FOR CONSTRUCTING THREE-DIMENSIONAL MODEL OF INTERNAL SURFACES HOLLOW OBJECTS, DEVICE FOR MEASURING shape, dimensions and elastic properties of the inner surface HOLLOW OBJECTS AND CONSTRUCTING THREE-DIMENSIONAL MODEL OF INTERNAL SURFACES HOLLOW OBJECTS
    JP2016202347A5|2018-05-31|
    KR101814293B1|2018-01-02|System for assessing motor fucntion
    US20180199839A1|2018-07-19|Intrathoracic pressure calculation device and intrathoracic pressure calculation method
    Lin et al.2014|Mathematical models of 3D magnetic field and 3D positioning system by magnetic field
    WO2019153985A1|2019-08-15|Gyroscope-based system and method for assisting in tracking heat source on mechanical arm
    KR20170054352A|2017-05-17|APPARATUS OF GENERATING predictive model BASED Supervised Learning AND APPARATUS AND METHOD OF TRAINNING CARDIOPULMONARY RESUSCITATION USING THE predictive model
    Sun et al.2017|New approaches to human gait simulation using motion sensors
    JP6535589B2|2019-06-26|Pulse wave propagation time change estimation method, pulse wave propagation time change estimation device, and program
    KR102188334B1|2020-12-09|Surgical apparatus and method for motion analysis using depth sensor
    JP2015047193A5|2016-10-20|
    Poignonec et al.2020|Towards in situ backlash estimation of continuum robots using an endoscopic camera
    JPH10319108A|1998-12-04|Bias error estimation device of sensor posture and position
    KR20130111664A|2013-10-11|Method and system for eliminating disturbance of robot
    同族专利:
    公开号 | 公开日
    ITUA20161926A1|2017-09-23|
    CH712304B1|2020-08-31|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US6903721B2|1999-05-11|2005-06-07|Immersion Corporation|Method and apparatus for compensating for position slip in interface devices|
    CA2807614C|2009-08-18|2018-10-30|Airway Limited|Endoscope simulator|
    CN112201131A|2013-12-20|2021-01-08|直观外科手术操作公司|Simulator system for medical procedure training|
    法律状态:
    2018-01-31| PUE| Assignment|Owner name: MEDVIRT SAGL, CH Free format text: FORMER OWNER: FOUNDATION FOR CARDIOLOGICAL RESEARCH AND EDUCATION - FCRE, CH |
    2019-04-30| PCAR| Change of the address of the representative|Free format text: NEW ADDRESS: PIAZZETTA SAN CARLO 2, 6900 LUGANO (CH) |
    优先权:
    申请号 | 申请日 | 专利标题
    ITUA2016A001926A|ITUA20161926A1|2016-03-23|2016-03-23|METHOD FOR THE SIMULATION OF AN ENDOSCOPY.|
    [返回顶部]