(19)

(11)

EP 2 914 404 A2

(12)

(88) Date of publication A3: 26.06.2014 (43) Date of publication: 09.09.2015 Bulletin 2015/37 (21) Application number: 13824005.6 (22) Date of filing: 31.10.2013

(51) International Patent Classification (IPC):  B25J 9/00(2006.01) A61H 1/02(2006.01) (86) International application number: PCT/IB2013/059809 (87) International publication number: WO 2014/068509 (08.05.2014 Gazette 2014/19)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME (30) Priority: 01.11.2012 ZA 201208238 (71) Applicant: University of Cape Town 7700 Cape Town (ZA)	(72) Inventors: BRIJLAL, Yasheen 7708 Cape Town (ZA) JOHN, Lester Ryan 8001 Cape Town (ZA) SIVARASU, Sudesh 7700 Cape Town (ZA) (74) Representative: Nederlandsch Octrooibureau  P.O. Box 29720 2502 LS The Hague 2502 LS The Hague (NL)