Dental robot and dental robot for performing an oral navigation procedure

Abstract

A dental robot comprising a tandem positioning arm, wherein The tandem positioning arm comprises a base, multiple positioning arms and a sheath, and the sheath is configured to clamp surgical instruments; the base, the several positioning arms and the shell are successively connected in series by swivel joints; and Each of the rotary joints has a joint angle measuring device mounted on it.

Description

REFERENCE TO RELATED REGISTRATION

[0001] The present application claims priority over Chinese application No. 202010693115.9, filed on July 17, 2020, entitled “Dental Robot and Oral Navigation Procedure”, which is hereby incorporated in its entirety by reference. TECHNICAL AREA

[0002] The present application relates to the technical field of medical devices and instruments, and in particular to a dental robot and a dental robot for performing an oral navigation procedure. BACKGROUND

[0003] The application of navigation and robotic technology in oral and maxillofacial surgery has significantly improved the level of digitalization in this field. A robot-assisted oral navigation system can be of great assistance to dentists, improving the accuracy of surgical procedures, reducing their complexity, and ensuring surgical safety.

[0004] In the technology in question, dental surgical robot systems typically use universal industrial mechanical arms, which not only results in a large volume and weight of the entire system, but also in high costs and poor practicality. SUMMARY

[0005] Embodiments of the present application provide a dental robot and a dental robot for performing an oral navigation procedure to solve the problems of large volume and weight as well as poor practicality of conventional dental surgery robot systems.

[0006] In a first aspect, an embodiment of the present application provides a dental robot comprising a tandem positioning arm, wherein the tandem positioning arm comprises a base, multiple positioning arms and a sheath, the sheath being configured for clamping surgical instruments; the base, the several positioning arms and the shell are connected one after the other in a row by swivel joints; Each of the rotary joints has a joint angle measuring device mounted on it.

[0007] In one embodiment, the joint angle measuring device is an absolute encoder.

[0008] In one embodiment, the positioning arm has a hollow structure.

[0009] In one embodiment, a servo torque motor is mounted on each of the rotary joints.

[0010] In one embodiment, the dental robot further comprises a dental treatment chair, wherein a head clamping device arranged on both sides of a headrest of the dental treatment chair has a pinion-rack locking structure, and The tandem positioning arm is firmly mounted to the base of the dental treatment chair via the base.

[0011] In a second aspect, an embodiment of the present application provides a dental robot for performing an oral navigation procedure based on the dental robot according to the first aspect, comprising:

[0012] Determining a coordinate position of a surgical instrument clamped by a sheath arranged on the top side of a tandem positioning arm, in a coordinate system of the dental robot based on joint angles measured by each joint angle measuring device in the tandem positioning arm; Converting the coordinate position of the surgical instrument in the coordinate system of the dental robot into a coordinate position of the surgical instrument in a coordinate system of a three-dimensional image; and

[0013] Performing oral navigation based on the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image and preset surgical paths in the coordinate system of the three-dimensional image.

[0014] In one embodiment, converting the coordinate position of the surgical instrument in the coordinate system of the dental robot into a coordinate position of the surgical instrument in a coordinate system of a three-dimensional image comprises:

[0015] Converting the coordinate position of the surgical instrument in the coordinate system of the dental robot into a coordinate position of the surgical instrument in the coordinate system of the three-dimensional image based on a spatial mapping relationship; where the spatial assignment relationship is determined on the basis of coordinate positions of preset feature points on the three-dimensional image in the coordinate system of the dental robot.

[0016] In one embodiment, the method, after performing oral navigation based on the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image and preset surgical paths in the coordinate system of the three-dimensional image, further comprises:

[0017] Determining the contact stiffness of the tandem positioning arm based on a preset working area of ​​the surgical instrument in the three-dimensional image and the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image; and

[0018] Setting an output torque of the servo torque motor at each rotary joint in the tandem positioning arm based on the contact stiffness of the tandem positioning arm.

[0019] In one embodiment, the method further comprises, prior to performing oral navigation based on the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image and preset surgical paths in the coordinate system of the three-dimensional image:

[0020] Determining the relative position of an area to be operated on and the surgical instrument based on the positions of visual markers placed on the area to be operated on and the surgical instrument, respectively;

[0021] Converting the relative position into a three-dimensional coordinate system to obtain a three-dimensional relative position; and

[0022] Setting a coordinate position of the area to be operated on in the coordinate system of the three-dimensional image based on the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image and the three-dimensional relative position.

[0023] In one embodiment, the visual markings of the area to be operated on are applied by an oral guide which is determined on the basis of a three-dimensional curved surface of the dentition within the area to be operated on.

[0024] The embodiments of the present application provide a dental robot and a dental robot for performing an oral navigation procedure. The dental robot comprises a tandem positioning arm in which a base, several positioning arms, and a housing are sequentially connected in series by rotary joints; a joint angle measuring device is mounted on each of the rotary joints. The low weight of the tandem positioning arm reduces the volume and weight of the dental robot system, thus improving the practicality of the dental robot during surgical procedures. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions of the embodiments of the present application or of the prior art, the drawings necessary for describing these embodiments or of the prior art are briefly presented below. The drawings in the following description obviously show some embodiments of the present application. For those skilled in the art in this field, further drawings can be derived from these drawings without any creative effort. Fig. Figure 1 is a schematic structure diagram of a dental robot according to an embodiment of the present application; Fig. 2 is a schematic structure diagram of a head clamping device; Fig. Figure 3 is a schematic structure diagram of a dental robot according to an embodiment of the present application; Fig. Figure 4 is a schematic flowchart of an oral navigation procedure of a dental robot for carrying out an oral navigation procedure according to an embodiment of the present application; and Fig. Figure 5 is a schematic structure diagram of a patient tracking device. DETAILED DESCRIPTION

[0026] To more clearly illustrate the technical solutions and advantages of the embodiments of this application, the technical solutions in the embodiments of this application, in conjunction with the accompanying drawings, will be clearly and completely described. It is evident that the described embodiments are part of the embodiments of this application and not all of them. All other embodiments that a person skilled in the art in this field could obtain from the embodiments of this application without creative effort fall within the scope of protection of this application.

[0027] Fig. Figure 1 is a schematic structure diagram of a dental robot according to an embodiment of the present application. As in Fig. As shown in Figure 1, the dental robot comprises a tandem positioning arm; the tandem positioning arm includes a base 100, a first positioning arm 110, a second positioning arm 120 and a sleeve 130, and the sleeve 130 is configured to clamp surgical instruments; the base 100, the first positioning arm 110, the second positioning arm 120 and the sleeve 130 are connected in series by a first pivot joint 101, a second pivot joint 102 and a third pivot joint 103; and a joint angle measuring device is mounted on each of the pivot joints.

[0028] It should be noted that embodiments of the present application are described using a case in which the number of positioning arms is two, and that these embodiments are part of the embodiments of the present application and not all of the embodiments. The number of positioning arms is not specifically defined in the embodiments of the present application.

[0029] In one embodiment, the base 100, the first positioning arm 110, the second positioning arm 120, and the housing 130 are connected in series by rotary joints. The housing 130 is configured to clamp surgical instruments. The tandem positioning arm has at least six degrees of freedom and can be used to position surgical instruments and adjust their posture within the workspace. To make the dental robot's tandem positioning arm more flexible when pulling or avoiding obstacles, the number of tandem positioning arms can also be adjusted, resulting in a structure with redundant degrees of freedom.

[0030] The conventional robotic system for oral surgery uses universal industrial mechanical arms controlled by motors, making the surgical robots very bulky in size and weight. When using surgical robots, dentists must learn how to handle and operate these industrial mechanical arms, increasing their learning costs. Furthermore, unlike standardized production methods in industry, in oral surgery the dentist must create different surgical plans based on each patient's specific conditions, and during the procedure, the dentist must adjust these plans based on real-time feedback from each patient. Therefore, the traditional robotic system for oral surgery is impractical and inefficient in surgical procedures.

[0031] In the dental robot provided by the embodiments of the present application, the joint angle measuring device is mounted at each rotary joint of the tandem positioning arm, and the surgical instrument is precisely positioned by the joint angle measurement. This eliminates the need for motor control and reduces the use of electronic devices associated with motor control, thus enabling the lightweight construction of dental robots. Furthermore, a drag-and-drop operation is used to facilitate flexible operation by the dentist, which better suits the dentist's habits and eliminates the need for training.

[0032] The embodiments of the present application provide a dental robot comprising a tandem positioning arm in which the base, several positioning arms, and the housing are sequentially connected in series by rotary joints, and a joint angle measuring device is mounted on each of the rotary joints. The low weight of the tandem positioning arm reduces the volume and weight of the dental robot system, thus improving the practicality of the dental robot during surgical procedures.

[0033] Based on one of the above embodiments, the joint angle measuring device is an absolute encoder.

[0034] In one embodiment, the joint angle measuring device is an absolute encoder; for example, a photoelectric absolute encoder can be used to measure the joint angle. While a relative encoder requires a relative zero point to determine the actual measured value, the absolute encoder has the structural property that ensures the uniqueness of each measured value and does not require a reference zero point.

[0035] In the embodiment of the present application, an absolute encoder is used, which avoids the calibration of the zero point during use and thus simplifies the use of the tandem positioning arm.

[0036] Based on one of the above embodiments, the positioning arm has a hollow structure.

[0037] In one embodiment, the body of the positioning arm can have a structure with a hollow interior, which reduces the body's weight and improves operational flexibility. The hollow interior structure can also accommodate the internal electrical connecting wires of the dental robot system, thereby reducing the overall volume of the dental robot.

[0038] Based on one of the above embodiments, the positioning arm consists of at least one of technical plastic, aluminum alloy and carbon fiber.

[0039] In one embodiment, the positioning arm can be made of high-strength, lightweight materials such as engineering plastic, aluminum alloy or carbon fiber to reduce the weight of the body.

[0040] Based on one of the above embodiments, a servo torque motor is mounted on each of the rotary joints.

[0041] In one embodiment, a small servo torque motor is mounted at each rotary joint. The gravitational moment at each rotary joint can be calculated according to the robot dynamics model, and the torque provided by the servo torque motor compensates for the gravitational moment, making the pulling of the tandem positioning arm more flexible and convenient.

[0042] Based on one of the foregoing embodiments, the dental robot further comprises a dental treatment chair, wherein a head clamping device arranged on both sides of a headrest of the dental treatment chair has a pinion-rack locking structure and the tandem positioning arm is firmly mounted to a device base of the dental treatment chair by the base.

[0043] In one embodiment, the dental robot further comprises a dental treatment chair. To better hold the patient's head, the head clamping device has a rack and pinion locking structure on both sides of the dental treatment chair's headrest. Fig. Figure 2 is a schematic structure diagram of a head clamping device. As in Fig. As shown in Figure 2, the head clamping device comprises a pinion 201, a first rack 211, a second rack 212, a first head support 221, and a second head support 222. The pinion 201 can be rotated by a knob to drive the first rack 211 and the second rack 212 so that they move towards each other, and the distance between the first head support 221 and the second head support 222 is adjusted to achieve the function of fixing the patient's head.

[0044] Since the tandem positioning arm is firmly mounted to the base of the dental chair via the base, it can be easily pulled to the area to be operated on in the patient's mouth.

[0045] Based on one of the foregoing embodiments, the dental robot further comprises a visual navigator; and The visual navigator is firmly mounted to the base of the dental treatment chair via a support arm.

[0046] In one embodiment, the visual navigator can track the visual markings on the area to be operated on and on the surgical instruments in real time and detect their spatial positions in real time to guide the completion of the dental surgery.

[0047] Based on one of the above embodiments, Fig. 3 A schematic structural diagram of a dental robot according to an embodiment of the present application. As in Fig. As shown in Figure 3, the dental robot comprises a tandem positioning arm 301, a dental treatment chair 302, a visual navigator 303 and a surgical instrument 304.

[0048] In one embodiment, the patient lies flat on the dental chair during use. The dentist pulls the tandem positioning arm 301 and uses the surgical instrument 304, which is clamped by the sheath at the end of the tandem positioning arm 301, to perform oral surgery. If the patient's head moves, the dentist can also use the visual navigator 303 to track the visual markings on the areas to be operated on and on the surgical instruments to complete the oral surgery.

[0049] Based on one of the above embodiments, Fig. 4 A schematic flowchart of an oral navigation procedure of a dental robot for carrying out an oral navigation procedure according to an embodiment of the present application. As in Fig. As shown in section 4, the procedure includes:

[0050] Step 410: Determining a coordinate position of a surgical instrument clamped by the sheath located on one upper side of the tandem positioning arm, in a coordinate system of the dental robot based on joint angles measured by each joint angle measuring device in the tandem positioning arm.

[0051] In one embodiment, the coordinate system of the dental robot is established according to the structural parameters of the dental robot, and the base of the tandem positioning arm can be selected as the origin of the coordinate system. The selection of the origin of the dental robot's coordinate system is not specifically defined in the embodiments of this application.

[0052] Based on the joint angles measured by each joint angle measuring device in the tandem positioning arm, a Denavit-Hartenberg (DH) method can be used in the robot kinematics to calculate the position of the shell on the top of the tandem positioning arm in real time. Therefore, the shell's position can be accurately determined when the tandem positioning arm is moved to perform surgical operations within its working range.

[0053] The surgical instrument can be a dental instrument, such as a handpiece for dental implants, a repair handpiece, and the like. The sheath is capable of clamping various surgical instruments for oral surgery. After position and attitude calibration, the surgical instrument is mounted on the sheath of the tandem positioning arm. The coordinate position of the surgical instrument within the dental robot's coordinate system can be determined relative to the sheath of the tandem positioning arm according to the instrument's calibration parameters.

[0054] Step 420: Converting the coordinate position of the surgical instrument in the coordinate system of the dental robot into a coordinate position of the surgical instrument in a coordinate system of a three-dimensional image.

[0055] In one embodiment, the three-dimensional image can be a three-dimensional image of the patient's oral cavity obtained using CBCT (Cone Beam Computed Tomography, X-ray tomography) technology, also known as Cone Beam CT. The coordinate system of the three-dimensional image can be determined based on the three-dimensional image of the patient's oral cavity.

[0056] According to the spatial mapping relationship between the coordinate system of the dental robot and the coordinate system of the three-dimensional image, the coordinate position of the surgical instrument in the dental robot's coordinate system can be converted into the coordinate position of the surgical instrument in the three-dimensional image's coordinate system. This spatial mapping relationship can be calibrated beforehand.

[0057] Step 430: Performing oral navigation based on the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image and the preset surgical paths in the coordinate system of the three-dimensional image.

[0058] In one embodiment, presetting the surgical path refers to planning the surgical operations in advance in the coordinate system of the three-dimensional image and determining the movement path of the surgical instrument in the coordinate system of the three-dimensional image.

[0059] During oral surgery, the tandem positioning arm is moved so that the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image is adjusted to the preset surgical path in the coordinate system of the three-dimensional image in order to obtain the real-time position error of the surgical instrument and thus guide the dentist in performing the oral surgery.

[0060] In the oral navigation method of a dental robot for performing an oral navigation procedure, as provided by the embodiment of the present application, the coordinate position of the surgical instrument in the coordinate system of the dental robot is converted into the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image and then adapted to the preset surgical path in the coordinate system of the three-dimensional image, so that the movement path of the surgical instrument is positioned during oral surgery, guiding the dentist in performing the surgical operations, reducing the difficulty of the surgical operations, and ensuring the safety of the surgery. Furthermore, this oral navigation method avoids problems such as visual occlusion, which are associated with the use of optical navigation instruments.

[0061] Based on one of the foregoing embodiments, step 420 comprises: Converting the coordinate position of the surgical instrument in the coordinate system of the dental robot to the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image based on a spatial mapping relationship; the spatial assignment relationship is determined on the basis of the coordinate positions of preset feature points on the three-dimensional image in the coordinate system of the dental robot.

[0062] In one embodiment, the spatial assignment relationship is a position conversion relationship of a coordinate point from the coordinate system of the dental robot to the coordinate system of the three-dimensional image, which can be determined by the coordinate position of the preset feature points on the three-dimensional image in the coordinate system of the dental robot.

[0063] The preset feature points are predetermined positioning points whose coordinate positions in the three-dimensional image have been determined by markers. There are at least three preset feature points. The coordinate position of each preset feature point in the dental robot's coordinate system is obtained by moving the tandem positioning arm and touching areas of the patient's tooth that correspond one-to-one to the positions of the preset feature points in the three-dimensional image with the tip of the surgical instrument or the mounted calibration probe. The coordinate positions of the preset feature points in the dental robot's coordinate system and in the three-dimensional image's coordinate system are then mapped and recorded to establish the spatial relationship.

[0064] The assignment registration algorithm can be the ICP algorithm (iterative closest point algorithm), and the selection of the registration algorithm is not specifically defined in the embodiments of the present application.

[0065] Based on one of the foregoing embodiments, the method according to step 430 further comprises: Determining the contact stiffness of the tandem positioning arm based on a preset working area of ​​the surgical instrument in the three-dimensional image and the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image; and Adjusting the output torque of the servo torque motor at each rotary joint in the tandem positioning arm based on the contact stiffness of the tandem positioning arm.

[0066] In one embodiment, for oral surgery, an operating area can be planned in advance in a three-dimensional image to obtain a predefined working area. For example, for a molar restoration operation, the grinding area and the non-grinding area can be planned in advance in a three-dimensional image.

[0067] When the surgical instrument is pulled for surgery, the positional relationship between the surgical instrument and the preset working area is assessed according to the instrument's coordinate position within the three-dimensional image's coordinate system, and the contact stiffness of the tandem positioning arm is determined. Contact stiffness is the sensitivity of the tandem positioning arm when it is pulled. For example, if the surgical instrument is in the grinding area, the contact stiffness is zero, and pulling can be performed freely; if the surgical instrument is near the non-grinding area, the contact stiffness is not zero and increases with decreasing distance from the non-grinding area, so a certain force is required for pulling.

[0068] According to the contact stiffness of the tandem positioning arm, the output torque of the servo torque motor at each rotary joint in the tandem positioning arm is adjusted so that the dentist can receive force-sensitive feedback when pulling the tandem positioning arm, thereby improving the accuracy of the surgery and operational safety, and avoiding injury to healthy tissue.

[0069] The output torque of the servo torque motor is set by calculating the torque that each servo torque motor should output during pulling, based on preset parameters such as contact stiffness and damping, so that the sensitivity of the tandem positioning arm can be dynamically changed and different force-sensitive feedback can be given to the dentist.

[0070] In the oral navigation method provided by the embodiments of the present application for carrying out an oral navigation procedure of a dental robot, the output torque of the servo torque motor at each rotary joint is set according to the preset working range of the surgical instrument in the three-dimensional image and the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image, thereby giving the dentist different force-sensitive feedback and improving the safety of the oral surgical operation.

[0071] Based on one of the foregoing embodiments, the method prior to step 430 further comprises:

[0072] Determining the relative position of an area to be operated on and the surgical instrument based on the positions of visual markers placed on the area to be operated on and the surgical instrument, respectively;

[0073] Converting the relative position into a three-dimensional coordinate system to obtain a three-dimensional relative position; and

[0074] Setting a coordinate position of the area to be operated on in the coordinate system of the three-dimensional image based on the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image and the three-dimensional relative position.

[0075] In one embodiment, during certain operations where accuracy significantly impacts the surgical outcome, such as dental implant surgery, even when the patient's head and jaw are fixed by the clamping device, small positional shifts can occur, and prolonged clamping and fixation can be uncomfortable for the patient. Visual markers can be positioned on the area to be operated on in the patient's oral cavity and on the surgical instrument. These visual markers can be tracked by the visual navigator, and their positions on the surgical area and instrument can be detected in real time.

[0076] Based on the positions of the visual markers, which are placed on the area to be operated on and the surgical instrument respectively, the relative position of the area to be operated on and the surgical instrument is determined, and the relative position is converted into a three-dimensional coordinate system to obtain a three-dimensional relative position.

[0077] According to the coordinate position of the surgical instrument in the coordinate system of the three-dimensional image and the three-dimensional relative position, the coordinate position of the area to be operated on is set in the coordinate system of the three-dimensional image, so that the set area to be operated on can adapt to the changes in position of the patient's head and jaw in order to continue to guide the dentist in performing the oral surgical operation.

[0078] In the oral navigation method of a dental robot for performing an oral navigation procedure, as provided by the embodiments of the present application, the visual markers arranged on the area to be operated on and the surgical instrument are tracked by a visual navigator, and the coordinate position of the area to be operated on in the coordinate system of the three-dimensional image is set in real time, thereby improving the accuracy of the oral surgical operation.

[0079] Based on one of the foregoing embodiments, the visual marking of the area to be operated on is mounted by an oral guide which is determined on the basis of a three-dimensional curved surface of the dentition within the area to be operated on.

[0080] In one embodiment, in order to perform the surgical operation precisely even when the patient's head moves, a patient tracking device can be mounted on the patient's jaw.

[0081] Fig. Figure 5 is a schematic structure diagram of a patient tracking device. As shown in Fig. As shown in Figure 5, the patient tracking device comprises a mouth guide 501, a connecting rod 502, and a visual marker 503 of the area to be operated on. The visual marker 503 is connected to the mouth guide 501 via the connecting rod 502. The patient tracking device can be manufactured quickly using 3D printing and other methods.

[0082] The 501 mouth guide is determined based on a three-dimensional curved surface of the dentition within the area to be operated on in the patient's oral cavity and can be positioned to precisely fit the patient's dentition. During oral surgery, once the patient's dentition is fitted with the device, the position of the patient's jaw can be detected in real time by the visual navigation instrument.

[0083] The above-mentioned embodiments of the device serve only for illustration, whereby the units described as separate components may or may not be physically separate, and the components represented as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected according to the actual requirements to achieve the purpose of the embodiments. Average experts in this field can understand and implement them without creative effort.

[0084] Based on the above description of the implementations, the average person skilled in the art can clearly understand that the various implementations can be realized through software and the necessary general hardware platform, and of course, through hardware. Based on this understanding, the aforementioned technical solutions, which contribute substantially or partially to the prior art, can be embodied in the form of software products. These computer software products can be stored on computer-readable storage media such as ROM / RAM, magnetic disks, or compact discs, comprising several instructions to instruct a computer device (which may be a personal computer, a server, a network device, and the like) to execute the methods described in various embodiments or a part thereof.

[0085] Finally, it should be noted that the above-mentioned embodiments serve only to illustrate the technical solutions of the present application and do not limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions documented in the above embodiments may be further modified or parts of the technical features may be replaced with equivalent ones; and such modifications or replacements do not separate the core of the corresponding technical solutions from the spirit and scope of the technical solutions of various embodiments of the present application.

[0086] Embodiments of the present application include a dental robot and a dental robot for performing an oral navigation procedure. The dental robot comprises a tandem positioning arm, the tandem positioning arm including a base, multiple positioning arms, and a sheath, the sheath being configured to clamp surgical instruments; the base, the multiple positioning arms, and the sheath are sequentially connected in series by rotary joints; a joint angle measuring device is mounted on each of the rotary joints. According to the dental robot and the dental robot for performing an oral navigation procedure provided by the present application, the low weight of the tandem positioning arm reduces the volume and weight of the dental robot system, thus improving the practicality of the dental robot during surgical procedures. Reference symbol: 100 sockets 120 second positioning arm 102 second pivot joint 130 case 211 first rack 221 first headrest 301 Tandem Positioning Arm 303 Visual Navigator 501 oral guidance 503 visual marking 110 first positioning arm 101 first pivot joint 103 third pivot joint 201 sprocket 212 second rack 222 second headrest 302 dental treatment chair 304 surgical instrument 502 Connecting rod QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] CH 202010693115.9

[0001]

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