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It won't be possible to connect the soundbar directly to the TV, however you may be able to connect it to the input device instead, e.g. a Sky box or DVD player.
Sorry for the delay in getting back to you.
I'll need to know what devices you have connected to the TV?
What is the model number of your Panasonic Blu ray player?
Does it have a optical out connection that you can connect directly to the soundbar?