Patent Application
20080131833
1. Field of Invention
The present invention relates to a surface mapping and generating devices and to methods of surface mapping and surface generation. In particular and preferably, the present invention relates to devices and methods for mapping and/or generating surfaces of teeth.
2. Prior Art
The state of the art is exemplified by a prior-art device for the production of a dental prosthesis according to European Patent EP 98115809.0, and the technology disclosed in German Patents DE 44 39 307 A1 and DE 197 21 688 A1.
The basic technologies on which the present invention is based or with which it can be combined are disclosed in the German Patent Applications [Offenlegungsschrift] DE 44 39 307 A1 and DE 197 21 688 A1, which are used as the closest prior art, on the one hand, and which, by reference are hereby fully incorporated in the present documents, since the present invention in all of its embodiments is based on this technology, continues to develop and/or improves it advantageously, on the other hand, which is the objective of all of the aspects of the present invention.
This objective is implemented using devices and methods according to the claims. In particular, the invention makes available a surface mapping and generating device with devices for the process and/or cost optimization.
It is preferable for the process and/or cost optimization devices to comprise raw material recovery devices; also, it is preferable for the process and/or cost optimization devices to be able to automatically control the intensity of a laser light used. As an alternative or in addition thereto, it is preferable for the process and/or cost optimization devices to be designed so as to make it possible to evaluate two half frames which display different positions or views, comprising for this purpose especially a pulsed laser for exposure purposes.
Other alternative or additional embodiments of a surface mapping device according to the present invention, in particular for obtaining surface data of teeth, provide that the devices for the process and/or cost optimization comprise devices for carrying out a calibration procedure by evaluating overlap errors at matching points and/or that an image-recording device, in particular a CCD chip, is arranged so as to ensure that lines, taking into account the Scheimpflug angle, are located perpendicular to the direction of travel of the measuring table.
Another variation of a surface mapping device, in particular for obtaining surface data of teeth according to the present invention, provides that the devices for the process and/or cost optimization comprise devices for archiving especially three-dimensional data of the jaw and for modeling the bite position of the upper and lower jaws.
Special, preferably mechanical, embodiments of the surface mapping device are based on the disclosure contents of
Moreover, it is to be preferred if, in the surface mapping and generating device especially for the production of dental prostheses, the devices for the process and/or cost optimization comprise devices for an optimized preparation of at least one tooth stump for the production or placement of a dental prosthesis thereon and/or devices for taking into account the bite position of the upper and lower jaws.
The surface mapping and/or generating methods for reaching the above-mentioned objective of the present invention are characterized in that they use one or a plurality of the devices described above and function correspondingly.
Finally, the present invention also makes available a patient data archiving system which is marked by a chip card and/or decentralized data storage systems, in particular for dental data.
Certain aspects of this invention will be explained in greater detail below.
According to one aspect of the present invention, it is provided that raw material is recovered based on the surface mapping technologies, devices, and methods, such as are described in the above-mentioned publications which are hereby incorporated by reference into the present invention, hereinafter simply called “scanners” and “scanning,” in combination with, for example, a milling machine. The scanner, in combination with the milling machine and a suitable electronic data processing (EDP) device, forms a CAD-CAM system, in particular for the production of dental prostheses made of gold or platinum. The recovery of raw material can be preferably implemented by providing that, for example, the milling machine used is equipped with devices, e.g., for siphoning off gold or platinum dust or chips. Considering the high cost of the raw materials, such as gold or platinum, this results advantageously in a considerable reduction of the cost for the production of dental prostheses made of gold or platinum.
According to another aspect of the present invention, the scanner technology disclosed in the publications cited above is further improved.
This is made possible, on the one hand, by an automatic control of the intensity of the laser light used. To implement this, the reflectivity, for example, of the surface of the tooth to be mapped is determined by way of the intensity of the light that is, e.g., recorded by a CCD chip. Based on the result of the determination, the intensity of the laser light is subsequently readjusted. The improvement of this embodiment is to be seen in the fact that this reduces measuring errors due to an under- or overcontrol of the measured signals. The present invention also relates to devices and methods associated with the description above.
The scanner technology of the present invention is improved, on the other hand, by an increase in speed in that, instead of a full frame consisting of two composite half frames, two such half frames which show different views are evaluated by the camera or the CCD chip. The different views are obtained by different positions of the surface, for example, of a tooth relative to the device for recording this surface (e.g. a camera with a CCD chip or a CCD chip alone).
It is possible to advantageously further develop, in particular, the improvement mentioned above and, quite generally, the scanning technology used in that the laser used is triggered by pulses, similar to a stroboscopic effect, and that, for example, the table which holds the object, the surface of which is to be mapped, such as a tooth or a model of a tooth, is, in particular, continuously moved. Because of the pulsed laser beam, snapshots or “still images” of each position of the object relative to the camera are recorded, since during the short time of exposure to a laser beam pulse, the object appears to stand still in a certain position and, in this position, can be recorded by the camera. It is to be especially preferred if each individual laser pulse is associated with the recording of a half frame.
Yet another improvement of the scanner technology according to the present invention concerns a calibrating procedure which corrects different spatial distortions of the measured quantities obtained. To implement this, a body is scanned from different angles. The measurements are assembled by means of a matching algorithm. The overlap errors which are produced at different points of the object when these measurements are assembled are analyzed so as to ensure that variations in all spatial directions are detected. These variations lead to calibration errors from which, in turn, calibration parameters can be calculated in all spatial directions and spatial rotations. In the course of subsequent measurements, these calibration parameters can then be automatically taken into consideration by the EDP unit, which advantageously contributes to an increased precision of measuring. Further details related thereto follow from the practical example shown in
The prior-art scanner technology mentioned above is further improved by this invention in that a CCD chip (or, generally, a surface image recording device) is arranged so that, for example, camera lines, taking into account the Scheimpflug angle, are positioned so as to be perpendicular, e.g., to the direction of travel of the measuring table on which the object to be scanned is placed. Further details related thereto are illustrated in greater detail in the practical example shown in
The conventionally known scanner technology can be even further improved in that the present invention provides for the configuration of traveling and pivoting axes for the object carrier, the object and/or the camera so that it is possible to view all undercuttings present in the jaw when the invention is used, e.g., for mapping the dental surface. The advantage is that a fully automatic scanning/measuring strategy can be used.
According to another aspect of the present invention, different EDP modules are advantageously used, for example, in different fields of dental medicine.
Thus, the present invention makes available a scanner technology which comprises an EDP system, preferably in the form of a standard computer with special software as the control device, which is suitable for archiving, e.g., three-dimensional data of the jaw, in particular surface data. This archiving system serves as a substitute for previous forms of systems for archiving such data in the form of plaster models. In many areas of dental medicine, it was previously necessary to retain the plaster models of patients' teeth for a period of up to 10 years, which required an enormous space for storage. Archiving these data electronically, however, not only eliminates the need for a large storage space but also makes it possible to utilize the archived data more rapidly, more easily, and at considerably lower cost. Thus, it is possible, for example, to record and archive 3-D measuring data of previously healthy dental surfaces. As a result, years later, e.g., when a tooth needs to be replaced, the tooth can be reconstructed in the form of a dental prosthesis which, for example, can be produced by milling its surfaces on the basis of the archived data.
An electronic archiving system for jaw and/or dental data, however, provides for many other additional advantageous uses as well. Thus, these data can be processed by means of a suitable EDP system to model the original bite position of the upper and the lower jaws. In particular, this can be accomplished by first scanning the lower jaw, by subsequently placing a check bite (impression in the patient's mouth while he or she bites down) on the lower jaw, and by scanning it again. Thus, both dental surfaces in the bite situation are recorded. Both data records can be viewed separately or in combination with each other, and all dental analyses associated therewith can be carried out, for example, qualitatively or quantitatively (in the form of distance or volume measurements). To complete the measurement, the entire upper jaw can be scanned and spatially referenced by means of the check bite and, for example, matching software. Furthermore, it is possible to also simulate masticatory motions on the computer by means of recording the movement of the jaw and the bite check. Referencing the measured data of the upper and the lower jaws can also be used to modulate dental prostheses in connection with the CAD-CAM technology.
An additional variation of the present invention relates to a scanner technology which comprises an EDP system, such as a standard computer with a suitable type of software as the control device, with which the bite position of the upper and lower jaws can be modeled particularly for orthodontic surgery. The treatment plan, for example, for installing a dental brace, can be simulated in that, for example, in the software, the teeth are divided into dental groups, down even to individual teeth. Such groups and/or individual teeth can be moved and the final positions can be simulated. This provides answers to questions, such as whether there is enough room on the alveolar ridge and how the bite will look after the treatment. The treatment can be controlled by means of other EDP and software systems which can be modularly combined. At certain intervals, a jaw can be rescanned again and again. The successive chronological images can subsequently be shown as an interpolated “film.” This makes it possible to compare the progress of the actual treatment with the planned treatment and to identify and carry out corrections. Furthermore, these series of images can be archived and can, for example, be used as evidence in cases of law suits. In addition, these images also facilitate and expedite the communication with expert witnesses and insurance companies.
Another aspect of the present invention is related to a scanner technology which comprises an EDP system and an electronic control (for example, by means of software) so as to be able to model, e.g., the bite position of the upper and the lower jaws particularly for orthodontic surgery. This aspect of the present invention makes it possible, in particular, to incorporate the measured data of the jaw bones (determined, e.g., by means of computed tomography) using a suitable matching software. The planned treatment (e.g., an operation of the jaw) is simulated in that, for example, in a software, the teeth, the jaw, and the jaw bone are divided into groups of tooth and jaw sections (down to individual teeth). The groups and/or individual teeth can be moved and the final positions can be simulated. This makes it possible to answer questions, such as whether the space required is in fact present and how the patient will look after the treatment. In this case, another EDP and software module can be used for follow-up treatment. At certain intervals, each respective current status is scanned. The images taken over time can be displayed in the form of an interpolated “film.” The progress of the actual treatment can be compared to the planned treatment, and based on this comparison, potentially required corrections can be made. This aspect of the present invention makes it possible to advantageously plan and simulate implants. Among the other benefits worth mentioning is the fact that series of archived images can be used as evidence in cases of potential law suits and that the communication with expert witnesses and insurance companies is made easier and faster.
The scope of the present invention also extends to a patient data carrier, such as a chip card, which contains all data relating to a person's health and illnesses. Such an individual data carrier can be integrated into an administrative and archiving system which comprises, in particular, decentralized storage systems for archiving large quantities of data which can be accessed by means of accessing means on the data carrier. Thus, it is possible to archive and make readily available, for example, basic dental patient data which can include the 3-D data of the jaw and individual teeth and their dental surfaces as well as internal structures of individual teeth and data on the production of dental prostheses used (data on material and, e.g., milling). In addition, data on health insurance, digital X-rays, formerly and presently attending physicians, and, in general, the entire patient history can be stored on said data carrier. The scope of the present invention also extends to special reading and evaluating units which may also be integrated into the system. Thus, among the advantages obtained are double archiving for patients, improved retrospective follow-up means for insurance companies, and the availability of data even if the patient changes his or her address.
Furthermore, the subject matter of the present invention also relates to another variation or embodiment which allows for the implementation of a pulsed measurement, the basic principle of which had already been mentioned earlier.
A suitable surface mapping device or system comprises, for example, a linear table, a CCD camera, a frame grabber card, and a laser line module. To obtain the data, the laser line is projected continuously on the object to be measured. The measuring table moves the object step by step through the measuring arrangement (laser line and CCD chip). After each step, a measurement is carried out.
The method was previously carried out as follows: The measuring table moves into a starting position and stops. The object must be at rest to ensure that the picture taken is not “blurred,” which can lead to imprecise measurements. Subsequently, the CCD camera reads out a line (full frame) and transmits the signal to the frame grabber card. Next, the table is accelerated (approach ramp). Then the table is slowed down and stopped in a predetermined position (braking ramp). The CCD camera now reads out the next line. This entire process takes place in complete darkness. The laser diode can be regulated only to a specific output to ensure that the signal is not overcontrolled.
The novelty of the present invention is that the laser line is projected in a stroboscope-like fashion onto the object to be measured, which means that light flashes in the form of a laser line are projected at regular intervals onto the object. The measuring table moves the object continuously through the measuring arrangement (laser line, CCD chip). With each light flash, a measurement is simultaneously carried out. In particular, the measuring table moves at a controlled/supervised speed which is adjusted to the flash control. At preferably regular intervals (time or travel path of the table), a flash is emitted, and at the same time, a half frame of the CCD chip is read out. This signal is transmitted to the frame grabber card and evaluated by means of special software. The flash time is so short that any “blur” potentially caused by the continuous movement of the table is negligible.
As a result of the embodiment of the invention just mentioned, the measuring process is accelerated by a factor of 5 since the approach and braking times of the table are eliminated and the light flashes can be timed fast enough so that the readout can take place with half frames. An additional advantage is that the control device can have a less expensive design since only a uniform advance is required and no precise resting position has to be set. Another advantage is that the optomechanical configurations formerly used can continue to be used since the novelty exists or can be implemented with regard to the open-loop control, the closed-loop control, and the software for the components. Another advantage is that the intensity of the flash used is considerably higher than the formerly used laser signal, as a result of which it is possible to carry out the measurement even in daylight, without having to darken the measurement room, which considerably reduces the labor and time expenditure especially when exchanging objects to be measured.
In addition to the technical specifications for the “stroboscopic laser,” etc., already described above, the scope of the present invention also extends to mechanical designs which are considered worth protecting or capable of protection, both as far as the underlying concept is concerned and as to the actual embodiments and operating procedures in combination with each other or each by itself.
Especially when compared to the prior-art device for the production of a dental prosthesis according to European Patent EP 98115809.0, the present invention is marked by a number of concepts and designs which dramatically reduce the cost of producing such a device and make it function more reliably. In addition, these aspects of the present invention constitute advantageous and preferred further developments and combinations of the technology disclosed in German Patents DE 44 39 307 A1 and DE 197 21 688 A1, the entire contents of which as well as the contents of the European Patent Application EP 98115809.0 are hereby fully incorporated by reference into the present documents to avoid mere identical repetitions. In particular, the individual characteristics and combinations of characteristics can, but need not necessarily or exclusively be, combined with the stroboscopic technique described above.
With the individual aspects of the present invention, above all, technical improvements over and above the technical teaching in EP 98115809.0 are made available, with these improvements being specific, without being restrictive.
Other preferred and advantageous embodiments of the present invention follow from the individual claims and combination of such claims.
Below, the present invention will be explained in greater detail only by way of practical preferred embodiments with reference to the drawings, with these embodiments being no more than possible examples.
As can be seen:
a shows a diagrammatic top view of a jaw in which prior-art scanning lines are sketched in;
b shows a diagrammatic front view of a jaw in which the scanning lines according to
c shows a diagrammatic top view of a jaw in which scanning lines according to the present invention are sketched in,
d shows a diagrammatic front view of a jaw in which the scanning lines according to
a shows a diagrammatic perspective view of an object to be measured in the form of a tooth;
b shows a diagrammatic view of the object to be measured of
c shows a diagrammatic view of a signal image of a scanning line of
d shows a diagrammatic view of the object to be measured of
e shows a diagrammatic view of a signal image of a scanning line of
In the figures, identical or similar parts or identically or similarly functioning parts have the same reference numbers or are depicted in a comparable manner so that a person skilled in the art is able to recognize parts and their combinations, functions, and modes of actions possibly solely by looking at the figures, by comparing said figures and/or by reading the description below even if no reference is expressly made or shown between the individual figures and/or between the figures and the text.
First, a conventional measuring method will be explained so as to provide insight into the functioning of the device involved. This type of measuring method is used, for example, by the firm of DCS Forschungs- und Entwicklungs AG in Allschwil, Switzerland, and has been introduced to the public as early as in 1999. This measuring method has been considerably improved by the present invention.
c and 1d, again shown as a top view and a front view, respectively, illustrate a variation of the prior technology described above based on the present invention. According to this method and using the appropriate devices, measuring lines S6, S7, S8, S9, S10, S11, S12, and S13 are generated, except that these lines are made up only of so-called half frames, so that, although the number of measuring lines is greater than in the variation according to
In
For this object Z to be measured, the position of the measuring lines S is diagrammatically shown in
In contrast, a measuring line S according to the present invention produces a plurality of measuring points, e.g., Dy1 and Dy2 or Dza to Dzn, as illustrated in
To avoid repetitions, the following discussion will by reference also include
The “passage through” measuring field F is implemented by means of a linear guide 83 (or reference number 4′ in
Once a measuring pot 84 (or 8 in
This produces a measuring line which can see only one side of the tooth to be scanned. To be able to obtain additional measuring lines from additional angles, pot 84 (or 8 in
These data now make it possible to mill the inside data record of a dental crown. In addition to milling individual crowns, several single teeth can also be combined to form a bridge. To be able to mill bridges, the spatial position of several single crowns relative to one another must be determined as fast as possible. For this purpose, a complete jaw model is scanned in the same way as a single tooth. It is placed on an additional rotating plate 26 which is provided in rotating plate 5 of
The result can be seen in the image of
Subsequently, suitable devices or processes are used to start a software search which leads to an agreement of the data. The result can be seen in the image of
Below, additional improvements will be illustrated and explained.
With reference to
The position of rotating plate 5 is determined by means of encoder disk 28. In the case at hand, the disk is designed in the form of a plate 28 (see
Advantages of the devices described above:
extremely favorable production cost, available anywhere
no wear and tear
balance quality which ensures a quiet operation
exact knowledge of the positions
As an alternative to friction wheel 15, it is also possible to use, for example, a belt pulley or a toothed belt.
As to the prior art, reference is hereby made to a scanner of the firm of DCS Forschungs-und Entwicklungs AG in Allschwil, Switzerland, which was first presented to the public at the 1999 IDS exhibit in Cologne.
In the prior art, rotating plate 5 which was toothed along its outer periphery was used for the same purpose. The plate was driven by means of a small toothed wheel made of plastic. The path segments/angles of rotation were traversed by means of a number of steps which were predetermined in the software. A feedback to the control to determine whether the angle was in fact maintained did not exist. The plate was able to hold 14 pots which made it possible to scan a maximum of 14 stumps per jaw within one scan. This prior-art technology has the following drawbacks:
teeth along the outer periphery make the plate expensive and not readily available
the small plastic toothed wheel was subjected to considerable wear
high noise level during operation
lack of feedback regarding the position along the path
the 14 pots required (instead of preferably seven pots provided by this invention) are responsible for disproportionately high costs in the improbable case that there are more than seven connected dental stumps in one procedure; moreover, the 14 pots require a lot of space and determine the size and weight.
The cost of the construction of the frame can be further reduced by additional measures. Thus, the frame of the apparatus/device is suspended from two guide rods 83 (compare
As to the design mentioned above, ground linear guides with ball cages instead of 2 linear rod guides were used in the device produced by the firm of DCS Forschungs- und Entwicklungs AG in Allschwil, Switzerland. This necessitated a massive 8-part frame construction of massive metal plates which had to be produced with high precision. For reasons of space, it had been possible to attach the drive spindle only on the side of the moving table that was located opposite to the laser, which, given the free motion of the spindle, leads to errors in the angle.
The prior art device can be further improved by providing the laser diode with protection against electric shock. For this purpose, the laser optics, the laser diode, and the electronic control for the laser diode are housed together in a metal housing. The advantage is improved protection of the diode, in particular against electrostatic charges from the outside, and the fact that the exchange of parts is facilitated in cases of needed repairs.
In the known prior-art device of the firm of DCS Forschungs- und Entwicklungs AG, Allschwil, Switzerland, the electronic components and the diode are located in separate areas. After the housing of the device is removed, both components lie bare so that the service personnel can touch these parts and thus damage the optical system.
In addition, other improvements compared to prior art are possible in the manner in which jaw models are adjusted. To be able to optimally adjust jaw models that are to be scanned, a template 54 (see
Furthermore, other improvements are possible, for example, by rotating the individual pots by 45°. Rotating plate 5 (
Another aspect of the present invention will be explained by reference to
To shape the totality of all of caps 104, it is necessary to determine an optimum slip-on or clip-on direction which minimizes undercuttings 102 which form, among other things, for example, because of the oblique position of one stump 101 relative to the other stumps 101, as is illustrated by stump 101 on the right side of
This can be carried out in advance on the basis of the 3-D data obtained from stumps 101. For this purpose, as already explained in detail in the present documents, a 3-D data record is generated by means of scanning as disclosed by the present invention and used for model calculations to identify the optimum slip-on or clip-on direction. For this aspect of the method according to the present invention, different clip-on directions are successively used as a basis, and the “dead space” caused by undercuttings 102 is determined for each of the results. The optimum slip-on direction A is obtained by identifying the variation with the smallest “dead space.”
Especially as a result of an oblique position of a remaining stump 101, but also as a result of other imprecisions caused during the work by the dentist, it is possible for cases to arise in which a cap, relative to a residual tooth region 101b, would, in certain places, have to have a wall thickness of 0 mm. In such a case, it is principally not possible to produce a dental prosthesis. Before anything else can be done, time- and cost-intensive work must first be carried out on the tooth stump 101 involved, and often it is not certain that this work will lead to a useful result.
In addition to the optimization of the slip-on direction E to minimize the undercuttings or “dead spaces” 102 as provided by the present invention, the present invention can be used to further improve the approach to the production of dental prostheses. By means of the recorded (scanned) 3-D data, it is possible to prepare recommendations for the treating dentist which tell him what kind of work should be done on the dental stumps that would more likely lead to an improvement of the fit and stability of the prosthesis to be manufactured, including what to do to markedly reduce the undercuttings or the “dead spaces” 102. For this purpose, the scope of the method according to the present invention is extended so that relative to a recorded 3-D data record of one dental stump 101 or a combination of several dental stumps 101, an optimum clip-on direction for cap 104, in particular a combination of a plurality of caps 104 to form a bridge 106, is calculated provided that changes in the shape of the dental stump/the dental stumps 101 are possible. Thus, the method and system according to the present invention serve not only to make possible an adjustment to a given situation when caps 104 or bridges 106 are produced and clipped on but also to change a given situation so as to optimize the result, i.e., the prosthesis. For example, the method and system can make provision for the inclusion of a graphic display of the stumps, including, for example, specially dyed regions, for the finishing work, which display can serve as a basis for a dialogue between a dental lab and a dentist.
Furthermore, the invention in all of its embodiments described above also has the advantage of creating the possibility of a quality assurance, including, in particular, the possibility of unambiguously connecting given treatment results with the dentist who prepared the dental stumps by means of grinding or with the dental lab which produced the caps/crowns/bridges. Thus, it will be possible for the first time to settle questions of who bears the responsibility in cases of an inaccurate fit. Furthermore, it will be possible to advantageously make use of the fact that all data at the outset of a treatment as well as all data of the dental status at certain intervals can be continuously archived in an especially simple and at all times readily accessible manner.
The method and its variations explained above by reference to
Another aspect of the present invention relates to the automatic generation of the masticatory surface of a dental prosthesis, taking into consideration the counter bite (upper jaw to lower jaw). In the practical example illustrated in
1. Insertion and adjustment of upper and lower jaws 206 and 207 in a masticatory simulator or articulator 200 with adjusting joints 201 until the bite situation is simulated, as shown in
2. Reading in/recording, e.g., 6 degrees of freedom:
Using articulator 200, the optimum/correct position of supports 202/202a and 202/203a, i.e., actually of the support base 202a and 203a, is determined while taking into account upper and lower jaws 206 and 207, respectively, as shown in
3. Insertion of the respective jaw support 202 or 203 with the upper jaw model 206 or the lower jaw model 207 into a support 205 in correspondence with the support bases 202a and 203a of scanner 204 according to
4. Referencing is subsequently carried out by means of software.
5.—Proposal from the database for the masticatory surface (e.g., incisor)
Alternatively: record the position of the “articulated” jaw by means of scanning a portion of the articulated jaw and subsequently match the data of the upper and the lower jaws with these partial data records to produce the bite position.
The aspect of the invention explained with reference to
The present invention is explained in the description and in the drawings on the basis of the practical examples solely by way of examples and is not limited thereto but comprises all variations, modifications, substitutions, and combinations that the person skilled in the art can gather from the present documents, in particular the claims and the general explanations in the introduction of this description and the description of the practical examples and the representations thereof in the drawing, and can combine, based on his or her expert knowledge as well as on prior art, in particular when including the complete disclosure contents of the previous applications cited in this description. In particular, all individual features and possibilities of the embodiments of the invention and the practical examples can be combined with one another.
| Number | Date | Country | Kind |
|---|---|---|---|
| DE 200 19 033.4 | Nov 2000 | DE | national |
This application is a continuation of U.S. patent application Ser. No. 10/427,731, filed May 1, 2003, which in turn is a continuation of International Application No. PCT/DE01/04177 filed Nov. 8, 2001, the contents of which are here incorporated by reference in their entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | 10427731 | May 2003 | US |
| Child | 12026617 | US | |
| Parent | PCT/DE01/04177 | Nov 2001 | US |
| Child | 10427731 | US |
