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WO2004030560A2 - Systeme de reperage multicamera - Google Patents

Systeme de reperage multicamera Download PDF

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Publication number
WO2004030560A2
WO2004030560A2 PCT/DE2003/003277 DE0303277W WO2004030560A2 WO 2004030560 A2 WO2004030560 A2 WO 2004030560A2 DE 0303277 W DE0303277 W DE 0303277W WO 2004030560 A2 WO2004030560 A2 WO 2004030560A2
Authority
WO
WIPO (PCT)
Prior art keywords
cameras
color
marking
camera
arrangement according
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.)
Ceased
Application number
PCT/DE2003/003277
Other languages
German (de)
English (en)
Other versions
WO2004030560A3 (fr
Inventor
Markus Schill
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.)
VR MAGIC GmbH
Original Assignee
VR MAGIC 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
Application filed by VR MAGIC GmbH filed Critical VR MAGIC GmbH
Priority to AU2003283180A priority Critical patent/AU2003283180A1/en
Publication of WO2004030560A2 publication Critical patent/WO2004030560A2/fr
Publication of WO2004030560A3 publication Critical patent/WO2004030560A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/92—Identification means for patients or instruments, e.g. tags coded with colour
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
    • A61B2090/3975—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
    • A61B2090/3975—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active
    • A61B2090/3979—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active infrared
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery

Definitions

  • the present invention relates to what is claimed in the preamble.
  • the present invention is concerned with a camera-based position determination arrangement.
  • Camera-based positioning arrangement 'e' ' are known. They are used, for example, to be able to determine the position of the instruments used for the procedure during medical operations and, based on this determination, to control it, for example, with the aid of a computer.
  • a marking is typically made on the respective instrument, by means of which the position of the instruments can be determined.
  • the marking can have a strong backscatter or strong back reflections, for example in the infrared; Neither is distinguished for purposes of the present invention unless otherwise stated.
  • the use of IR markings is preferred because this results in particularly strong signals, which therefore enable a precise location, which is at most little impaired by noise in the image.
  • Another possibility in the prior art is to design the markings differently in their shape and / or to provide markings in the form of a number and thus to make them distinguishable.
  • the problem here is that a comparatively high effort is required for pattern recognition, in particular because the object can lie at an angle in the room.
  • DE 196 39 615 C2 describes a reflector reference system for surgical or medical instruments and treatment apparatuses with at least two cameras and a computer unit connected to the cameras with a graphic screen output, a radiation source for infrared radiation and a group of reflectors with at least two reflectors, for this infrared radiation, is provided and the reflectors are attached to the instruments or treatment apparatus in an arrangement which is characteristic only for this group of reflectors.
  • DE 198 48 765 C2 describes a method for positioning einblendbarer position marks or structures in 'a Video camera image of objects, in which the spatial section with the objects is recorded by at least two cameras, which detect invisible light, in particular infrared light, and by at least one video camera, from the image information of the cameras, which detect invisible light, computer-aided the three-dimensional spatial position of the objects is calculated, and position marks assigned to the objects are superimposed on the video camera image of the objects in accordance with the respectively calculated spatial position and are output together with this video camera image on a screen.
  • DE 42 05 406 AI describes a method which is intended to enable precise determination of the position of measurement marks on the imaging surface of optoelectric sensors and automatic identification thereof on the basis of a special color design.
  • the object of the present invention is to provide something new for commercial use.
  • a position determination arrangement with marking detection cameras for outputting marking detection-indicative signals and signal evaluation means for marking position determination in response to the camera signals is designed in such a way that a large number of IR and color cameras are provided for detecting color-coded IR markers is and the signal evaluation means for marking identification are designed in response to the color camera signals.
  • At least 3 cameras are provided, 2 infrared cameras typically being provided. With these two infrared cameras it is possible to determine the position of a marker very precisely, because with two cameras a position can be determined in a known manner, for example by triangulation. In a basic version, however, only one color camera is required to the markers - identified under the 'with IR cameras sites are located, to identify.
  • the position determination arrangement is used with IR markers that have a narrow reflection cone.
  • IR light sources such as IR LEDs
  • IR light sources can be provided near the IR cameras, so that when this light source is excited, the light practically only falls back into the respective IR camera.
  • at least one IR light source is arranged so close to an IR camera, that at least substantial parts of the reflection cone fall into this IR camera.
  • a plurality of cameras can be assigned light sources whose light backscattered by the markings is at least predominantly. falls into the corresponding cameras.
  • much of the light energy radiated for the position determination is reflected back into the respective camera.
  • This is preferred because the total energy that must be irradiated onto the field of view can be kept lower.
  • This is particularly relevant for operations where the site is to be illuminated very brightly, since the bright operating theater lights already exert a strong heat load.
  • a color camera can be used in accordance with the invention, at least two are typically provided. On the one hand, this enables a certain redundancy, for example against the failure of a camera or to determine a shift, if the colors are evaluated using only one camera. On the other hand and / or alternatively, it is also possible to triangulate with the color cameras. This is particularly preferred. Then it is possible the rough location to determine an object on the basis of the noisy and / or inaccurate color images and to determine on the basis of the IR camera image evaluation exactly where the markings are located in the room which were roughly recognized and identified in their position with the color cameras.
  • the position determination arrangement is preferably designed in such a way that at least two IR and two color cameras and a controller are provided in order to determine with these positions, in particular in order to determine positions more precisely by means of possibly weighted position determination in order to determine measurements with a higher repetition rate , for example in that marking positions are first detected with a first set and then with a second set of two IR cameras and one color camera and / or in order to, especially in the case of cameras which are movable relative to one another, the positions of further cameras control and / or determine.
  • a change between cameras can also take place in such a way that two IR cameras and two color cameras are provided and then each color camera is read out alternately but synchronously with the two IR cameras.
  • the synchronous readout ensures that errors cannot result from rapid movements.
  • the phase-shifted alternating reading is advantageous, for example, when the maximum possible reading frequency of the IR cameras is higher than that of the color cameras.
  • the position determination arrangement is particularly preferred for use in operating rooms and can in particular be sterilized and / or can be designed with interfaces for the positioning of instruments and / or the recording of instrument positions. It is then possible, in particular, to install a plurality of cameras in an operating light.
  • Fig. 1 shows an arrangement according to the invention.
  • FIG. 1 shows a position determination arrangement 1, generally designated 1, with marking detection cameras 2 for outputting signals indicative of the detection of markings 3 and signal evaluation means 4 for determining the marking position in response to the camera signals, the marking detection cameras 2 having a large number of IR and color cameras is provided for detecting the color-coded IR markers 3 and the signal evaluation means 4 are designed for marking identification in response to the color camera signals.
  • the position detecting device 1 is formed in the present example, 'for use in an operating theater, and especially the cameras 2 are installed in an operating lamp 5 with lamps 5a and pivotally connected to this so that they always have a substantially unobstructed view of the situs from a short distance.
  • the operating light 5 pivoted and thus from which position is observed is observed with a set of fixed cameras (not shown) which are arranged in the ceiling or the walls of the operating room, with markers facing these cameras being arranged on the operating light (likewise not shown) ).
  • the cameras 2 comprise two identical IR cameras 2a, 2c and a color camera 2b. These three cameras are aimed together at the site.
  • the two IR cameras are arranged relative to one another in such a way that the position and orientation of an instrument or a marking arranged thereon can be detected with them by triangulation.
  • An IR LED 6a, 6b is arranged near each camera 2a, 2b, the light of which is directed onto the site and its surroundings, so that in particular near the site 3 markers 3 on surgical instruments 7, the light in a narrow cone Backscatter with an aperture angle alpha of about 3 ° in the direction of the LED and thus into the close-by IR camera.
  • Marker adhesive films that create a narrow backscatter cone are commercially available.
  • such films are sterile packed and color coded, i.e. they have a variety of different colors. It should be pointed out that the markers do not necessarily have to be film-like, but can also be spherical, for example. Even then, sterile packaging is possible.
  • a color-sensitive camera 2b which records a colored image of the site and with which it can accordingly be recognized which color coding the marker 3 has.
  • the imaging properties of the system and in particular the color camera are known so that it can be calculated where a certain point in space within the field of view is mapped on the image.
  • the signals from the cameras 2 are fed to the signal evaluation means 4 via signal lines. This is designed to determine the XYZ position of the marking by triangulation from the signals of the IR cameras. It is also designed to determine a given .XYZ position in space, where it is projected in the image of the color camera, and then to determine the color at this pixel in order to recognize the marking and thus the instrument 7 on the basis of the color ,
  • the arrangement can be used as follows:
  • the system is calibrated once.
  • the sterile IR markings are then applied in a defined manner on a series of surgical instruments 7, with each instrument being assigned a mark in a different color that can be distinguished from the color camera.
  • the operating light 5 is now moved to a predetermined and known location above the site.
  • a first of the instruments 7 is then used in the field of view of the cameras and the IR LEDs are excited in each camera.
  • the images obtained with the assigned camera 2a, 2b have a sharp, bright spot where the marking is located, while the other areas are dark.
  • the images of the two IR cameras 2a, 2c are now evaluated in order to determine the exact position of the marking in space by triangulation. Since the relative positions of the cameras to each other are known and the system is calibrated, this can easily be done.
  • more than one marking is in the field of vision of the cameras simultaneously, for example because more than one instrument is used and / or because its spatial orientation is also to be determined, it can be preferred if more than one color camera is present.
  • a triangulation can then in particular also be carried out with these and it is possible to determine a suitable assignment with which IR marking a correspondence is most likely at a given location.
  • Corresponding areas on which an IR signal is to be expected can be identified by projecting a given xyz point of the given color with the color cameras onto the IR cameras. The exact position these IR points are then determined in order to obtain a more precise xyz coordinate.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

L'invention concerne un système de détermination de position qui comprend des caméras de repérage de marquage destinées à émettre des signaux indiquant le repérage d'un marquage, ainsi que des moyens d'analyse des signaux servant à déterminer la position d'un marquage d'après les signaux des caméras. Ce système se caractérise en ce qu'il comprend une pluralité de caméras IR et de caméras couleur servant à repérer des marqueurs IR à codage de couleurs et en ce que les moyens d'analyse des signaux sont conçus pour identifier le marquage d'après les signaux des caméras couleur.
PCT/DE2003/003277 2002-10-01 2003-10-01 Systeme de reperage multicamera Ceased WO2004030560A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003283180A AU2003283180A1 (en) 2002-10-01 2003-10-01 Multi-camera tracking system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10246147A DE10246147B4 (de) 2002-10-01 2002-10-01 Mehrkamera-Trackingsystem
DE10246147.3 2002-10-01

Publications (2)

Publication Number Publication Date
WO2004030560A2 true WO2004030560A2 (fr) 2004-04-15
WO2004030560A3 WO2004030560A3 (fr) 2004-06-17

Family

ID=32010150

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2003/003277 Ceased WO2004030560A2 (fr) 2002-10-01 2003-10-01 Systeme de reperage multicamera

Country Status (3)

Country Link
AU (1) AU2003283180A1 (fr)
DE (1) DE10246147B4 (fr)
WO (1) WO2004030560A2 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1952779A1 (fr) * 2007-02-01 2008-08-06 BrainLAB AG Méthode et système d'identification des instruments médicaux
US7706683B2 (en) 2005-05-31 2010-04-27 Brainlab Ag Self adjusting operation lamp system
EP2238889A1 (fr) * 2009-04-01 2010-10-13 Tobii Technology AB Caméra adaptative et oculomètre d'éclairage
CN106090834A (zh) * 2016-07-29 2016-11-09 史臣 体检车及其无影灯系统
WO2017004029A1 (fr) * 2015-06-29 2017-01-05 Medtronic Navigation, Inc. Procédé et appareil pour l'identification de plusieurs instruments guidés par navigation
EP2491337A4 (fr) * 2009-10-20 2017-03-22 Imris Inc. Système d'imagerie utilisant des repères
US9987093B2 (en) 2013-07-08 2018-06-05 Brainlab Ag Single-marker navigation
CN110720983A (zh) * 2019-09-05 2020-01-24 北京万特福医疗器械有限公司 一种视觉识别方法和系统
US12380487B2 (en) 2022-03-15 2025-08-05 Toshiba Global Commerce Solutions Holdings Corporation Method, system, and non-transitory computer readable medium for frictionless shopping using emitted light signals

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006016290A1 (fr) 2004-08-09 2006-02-16 Koninklijke Philips Electronics N.V. Traitement d’images d’instruments d’intervention avec marqueurs
DE502005010754D1 (de) * 2005-05-31 2011-02-10 Brainlab Ag Selbsteinstellendes Operationslampensystem
DE102010018291B4 (de) * 2010-04-26 2018-12-20 Siemens Healthcare Gmbh Navigationssystem und Röntgensystem
DE102019004235B4 (de) 2018-07-16 2024-01-18 Mako Surgical Corp. System und verfahren zur bildbasierten registrierung und kalibrierung

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DE4205406A1 (de) 1992-02-20 1993-09-02 Gerhard Dipl Ing Lutter Verfahren zur photogrammetrischen vermessung eines statischen objektes mit weitgehend handelsueblichen video- oder ccd-kameras
DE19639615C2 (de) 1996-09-26 1999-10-14 Brainlab Med Computersyst Gmbh Reflektorenreferenzierungssystem für chirurgische und medizinische Instrumente, sowie Markersystem für neurochirurgisch zu behandelnde Körperpartien
DE19848765C2 (de) 1998-10-22 2000-12-21 Brainlab Med Computersyst Gmbh Positionsverifizierung in Kamerabildern

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US6405072B1 (en) * 1991-01-28 2002-06-11 Sherwood Services Ag Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus
US5603318A (en) * 1992-04-21 1997-02-18 University Of Utah Research Foundation Apparatus and method for photogrammetric surgical localization
DE4225112C1 (de) * 1992-07-30 1993-12-09 Bodenseewerk Geraetetech Einrichtung zum Messen der Position eines Instruments relativ zu einem Behandlungsobjekt
EP0736725B1 (fr) * 1995-04-07 1999-09-01 Heraeus Med GmbH Procédé de transmission de signals vidéo et système de transmission des images pour appareil d'éclairage chirurgical
EP1051123A1 (fr) * 1998-01-28 2000-11-15 Eric Richard Cosman Systeme de suivi d'objets optiques
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DE19960020A1 (de) * 1999-12-13 2001-06-21 Ruediger Marmulla Vorrichtung zur optischen Erfassung und Referenzierung zwischen Datensatz, Operationssitus und 3D-Markersystem zur Instrumenten- und Knochensegmentnavigation

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4205406A1 (de) 1992-02-20 1993-09-02 Gerhard Dipl Ing Lutter Verfahren zur photogrammetrischen vermessung eines statischen objektes mit weitgehend handelsueblichen video- oder ccd-kameras
DE19639615C2 (de) 1996-09-26 1999-10-14 Brainlab Med Computersyst Gmbh Reflektorenreferenzierungssystem für chirurgische und medizinische Instrumente, sowie Markersystem für neurochirurgisch zu behandelnde Körperpartien
DE19848765C2 (de) 1998-10-22 2000-12-21 Brainlab Med Computersyst Gmbh Positionsverifizierung in Kamerabildern

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7706683B2 (en) 2005-05-31 2010-04-27 Brainlab Ag Self adjusting operation lamp system
EP1952779A1 (fr) * 2007-02-01 2008-08-06 BrainLAB AG Méthode et système d'identification des instruments médicaux
US7726564B2 (en) 2007-02-01 2010-06-01 Brainlab Ag Medical instrument identification
US10314484B2 (en) 2009-04-01 2019-06-11 Tobii Ab Adaptive camera and illuminator eyetracker
US10307054B2 (en) 2009-04-01 2019-06-04 Tobii Ab Adaptive camera and illuminator eyetracker
US8944600B2 (en) 2009-04-01 2015-02-03 Tobii Technology Ab Adaptive camera and illuminator eyetracker
EP2238889A1 (fr) * 2009-04-01 2010-10-13 Tobii Technology AB Caméra adaptative et oculomètre d'éclairage
US8339446B2 (en) 2009-04-01 2012-12-25 Tobii Technology Ab Adaptive camera and illuminator eyetracker
US9649029B2 (en) 2009-04-01 2017-05-16 Tobii Ab Adaptive camera and illuminator eyetracker
EP2491337A4 (fr) * 2009-10-20 2017-03-22 Imris Inc. Système d'imagerie utilisant des repères
US9987093B2 (en) 2013-07-08 2018-06-05 Brainlab Ag Single-marker navigation
WO2017004029A1 (fr) * 2015-06-29 2017-01-05 Medtronic Navigation, Inc. Procédé et appareil pour l'identification de plusieurs instruments guidés par navigation
US10898271B2 (en) 2015-06-29 2021-01-26 Medtronic Navigation, Inc. Method and apparatus for identification of multiple navigated instruments
US11744649B2 (en) 2015-06-29 2023-09-05 Medtronic Navigation, Inc. Method and apparatus for identification of multiple navigated instruments
CN106090834A (zh) * 2016-07-29 2016-11-09 史臣 体检车及其无影灯系统
CN106090834B (zh) * 2016-07-29 2023-01-06 深圳市艾克瑞电气有限公司 体检车及其无影灯系统
CN110720983A (zh) * 2019-09-05 2020-01-24 北京万特福医疗器械有限公司 一种视觉识别方法和系统
CN110720983B (zh) * 2019-09-05 2021-05-25 北京万特福医疗器械有限公司 一种视觉识别方法和系统
US12380487B2 (en) 2022-03-15 2025-08-05 Toshiba Global Commerce Solutions Holdings Corporation Method, system, and non-transitory computer readable medium for frictionless shopping using emitted light signals

Also Published As

Publication number Publication date
AU2003283180A1 (en) 2004-04-23
DE10246147A1 (de) 2004-04-15
WO2004030560A3 (fr) 2004-06-17
DE10246147B4 (de) 2007-12-06

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