CN105249995B - The localization method of the extracorporeal shock-wave lithotomy instrument for the treatment of site is positioned using ultrasonic wave - Google Patents
The localization method of the extracorporeal shock-wave lithotomy instrument for the treatment of site is positioned using ultrasonic wave Download PDFInfo
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- CN105249995B CN105249995B CN201510716477.4A CN201510716477A CN105249995B CN 105249995 B CN105249995 B CN 105249995B CN 201510716477 A CN201510716477 A CN 201510716477A CN 105249995 B CN105249995 B CN 105249995B
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Abstract
The invention discloses the localization method for the extracorporeal shock-wave lithotomy instrument that treatment site is positioned using ultrasonic wave.Installing B ultrasound machine makes it accurately judge that the treatment site of extracorporeal shock-wave lithotomy instrument is very difficult.Four ultrasonic transducers of the extracorporeal shock-wave lithotomy instrument for the utilization ultrasonic wave positioning treatment site that the present invention is used are each attached in treatment head, focus of its acoustic axis Jing Guo treatment head；Four ultrasonic transducers are connected to transducer cable, and four transducer cables are stretched out outside the shell for the treatment of head.The step of the present invention：Using echo of the shock wave of generation in calculus as detectable signal, and handled and analyzed using the signal acquiring system docking collection of letters number, the position where calculus and the deviation situation with extracorporeal shock-wave lithotomy instrument treatment site are determined, foundation is provided for adjustment extracorporeal shock-wave lithotomy instrument position.This invention ensures that shock wave and echo are propagated on identical path, the accuracy of ultrasonic listening is improved.
Description
Technical field
The invention belongs to medical ultrasound detection field, and in particular to a kind of utilization ultrasonic wave positions the extracorporeal shock wave for the treatment of site
The localization method of lithotripter.
Background technology
Extracorporeal shock-wave lithotomy instrument is crushes the Medical Devices of calculi in vivo, and the equipment produces shock wave in vitro, and propagates
Carry out inside of human body.Shock wave is in communication process, and energy will constantly converge and be eventually collected in a diameter of 1cm or so focal spot
In, form positive peak acoustic pressure and be more than the shock wave that 50MPa, negative peak acoustic pressure are more than 2MPa.When running into the calculus in the focal spot
When, powerful active force can be produced.Under the repeated action of shock wave, calculus can be crushed finally, and be excreted.
In order to ensure the validity and security of extracorporeal shock-wave lithotomy instrument Clinical practice, it is necessary to calculus is in external shake
It in the focal spot of ripple lithotripter, can ensure that shock wave energy is efficiently acted against in calculus, therefore, extracorporeal shock-wave lithotomy instrument is controlled
Treatment point is adjusted and positioned particularly significant.At present, the positioning of extracorporeal shock-wave lithotomy instrument is realized by B ultrasound and X-ray machine, will
B ultrasound equipment and extracorporeal shock-wave lithotomy instrument are combined, and judge whether calculus is in extracorporeal shock-wave lithotomy instrument by B ultrasound image
Focal spot in, in clinical treatment, then judge by observing X-ray the effect for the treatment of.Due to B ultrasound machine and extracorporeal shock-wave lithotomy
Instrument is the equipment of two sets of separation, therefore, and installing B ultrasound machine can accurately judge that the treatment site of extracorporeal shock-wave lithotomy instrument is very tired
During difficulty, particularly actual use, because the position of calculus is different, patient will take different positions to be treated, Yi Shengbi
The position of Ultrasonic-B probe must be adjusted, so that the decline of equipment positioning accuracy can be caused, influence the validity of Clinical practice
And security.
The content of the invention
The purpose of the present invention is that there is provided the external shake that a kind of utilization ultrasonic wave positions treatment site in view of the shortcomings of the prior art
The localization method of ripple lithotripter, the shock wave echo from calculus is measured by using four ultrasonic reception transducers and is believed simultaneously
Number, and handled and analyzed using the signal acquiring system docking collection of letters number, reach four transducers by measuring echo-signal
Propagation time, calculus position, and the identical length with extracorporeal shock-wave lithotomy instrument focal regions are calculated, for the external shake of adjustment
The position of ripple lithotripter provides foundation.
The extracorporeal shock-wave lithotomy instrument for the utilization ultrasonic wave positioning treatment site that the present invention is used includes seismic wave occurring source, cable and drawn
Line, ultrasonic transducer, transducer cable, watertight capsule, aqueous medium and treatment head；It is located at shake on the shell of the treatment head
Ripple occurring source side is machined with taper and installs table top, installs table top equidistantly processing each one ultrasonic waves of self-retaining of four mounting holes
Can device, the focus of the acoustic axis of four ultrasonic transducers Jing Guo treatment head；Four ultrasonic transducers are connected to transducer electricity
Cable, four transducer cables are stretched out outside the shell for the treatment of head；One end of the cable tail is connected with seismic wave occurring source,
The other end is stretched out outside the shell for the treatment of head；Described watertight capsule is nested with shell, and between watertight capsule and shell filled with
Aqueous medium.
This positions comprising the following steps that for the localization method of the extracorporeal shock-wave lithotomy instrument for the treatment of site using ultrasonic wave：
Step 1: one end that four transducer cables are stretched out outside shell is connected with signal sampler, cable tail is stretched
The one end gone out outside shell is connected with driving power source；Driving power source sends drive voltage signal as the triggering of signal sampler
Signal；The output signal of signal sampler is transmitted to the input of signal analyzer.
Step 2: the position of coarse adjustment extracorporeal shock-wave lithotomy instrument so that focal regions of the calculus close to extracorporeal shock-wave lithotomy instrument；Open
Signal sampler and signal analyzer；Intensity and the work of extracorporeal shock-wave lithotomy instrument launching shock ripple are set by driving power source
Frequency.
Step 3: the angles and positions of fine tuning extracorporeal shock-wave lithotomy instrument position calculus.With seismic wave occurring source center
As rectangular coordinate system xyz origin, four ultrasonic transducer positions in rectangular coordinate system are respectively P1(a, 0,0), P2
(0, a, 0), P3(- a, 0,0), P4(0 ,-a, 0), the shock wave of seismic wave occurring source is propagated along z-axis, and in focus O1(0,0, z0) place
Focus on；Wherein, a, z0It is not equal to 0.
(1) if calculus is located in the focus of shock wave, the quilt after shock wave sends from seismic wave occurring source, reflected through calculus
Time delay produced by four ultrasonic transducers are received is identical, uses t0Represent：
Wherein, c is spread speed of the shock wave in aqueous medium.
(2) if calculus off-focal but being still located at the S (x of focal plane1,y1,z0) on point, now：
x1=rcos θ
y1=rsin θ
Wherein, r is distance of the S points to z-axis, and θ is the angle between S points and x-axis.
Shock wave is applied to calculus time after being sent from seismic wave occurring source is：
And the time that scatter echo reaches four ultrasonic transducers is respectively：
The total delay time that four ultrasonic transducers receive scatter echo is respectively：
T1=t'0+t1；
T2=t'0+t2
T3=t'0+t3
T4=t'0+t4
(3) due to t'0Identical, when S points be located at first quartile in, i.e., 0<θ<At 90 °：T1＜ T3；T2＜ T4；When S points
In the second quadrant, i.e., 90 °<θ<At 180 °：T1＞ T3；T2＜ T4；When S points be located at third quadrant in, i.e., 180 °<θ<270°
When：T1＞ T3；T2＞ T4；When S points be located at fourth quadrant in, i.e., 270 °<θ<At 360 °：T1＜ T3；T2＞ T4。
Therefore, receive the total delay time of scatter echo to judge residing for calculus by four ultrasonic transducers of monitoring
Position, and then adjust extracorporeal shock-wave lithotomy instrument angles and positions.
Described shell uses stainless steel material.
The active material of the ultrasonic transducer uses a diameter of 12mm, thickness for 0.2mm piezoelectric ceramic wafer, energy
Receive the ultrasonic signal of 100~10MHz frequency ranges and be converted to corresponding voltage waveform output；Outside the ultrasonic transducer
Shell is cylindrical type, and the acoustic axis of ultrasonic transducer is installed table top with the taper on treatment head shell and is vertically arranged.
Described transducer cable is that twin-core shields watertight cable, and two cored wires connect having for ultrasonic transducer respectively
The cage connection of source material positive and negative electrode, shielding line and ultrasonic transducer；Cable one end is connected with ultrasonic transducer,
The other end is stretched out outside the shell for the treatment of head.
In the step 2, the selection pulse mode of low-power and low when the shock wave of extracorporeal shock-wave lithotomy instrument transmitting is initial
Working frequency.
Described signal sampler is acquired to the output signal of ultrasonic transducer, records exported ultrasonic wave letter
Number waveform；The sample frequency of signal sampler is 20MHz, and vertical quantified precision is 16bit；Signal sampler has more than four
Input channel, collection simultaneously can be carried out to the input signal of four ultrasonic transducers；Signal sampler has outer signal
Input channel is triggered, the synchronous acquisition and writing task of waveform are carried out under external signal triggering.
The multichannel pulse echo signal that described signal analyzer is recorded to signal sampler is analyzed, and is measured
The propagation time of echo-signal received by four ultrasonic transducers.
The beneficial effects of the invention are as follows：
(1) the use of extracorporeal shock-wave lithotomy instrument echo produced in calculus is detectable signal, shock wave can be reflected in real time
To the effect situation of calculus, and accurately determine the position where calculus.
(2) extracorporeal shock-wave lithotomy instrument wave source and ultrasonic listening transducer are co-axially mounted, it is ensured that shock wave and echo exist
Propagated on identical path, improve the accuracy of ultrasonic listening.
(3) by the echo-signal of synchronous acquisition transducer, calculate in real time position where calculus and with external shake
The identical situation of ripple lithotripter focal regions, it is ensured that the validity and security of clinical treatment.
(4) instant invention overcomes the intrinsic shortcoming of calculus positioning is carried out using B ultrasound equipment, with extracorporeal shock-wave lithotomy instrument institute
Echo of the shock wave of generation in calculus is detectable signal, and will receive the wave source of ultrasonic transducer and extracorporeal shock-wave lithotomy instrument
It is co-axially mounted, by being received to the echo-signal and being handled and analyzed using the signal acquiring system docking collection of letters number,
The position where calculus and the deviation situation with extracorporeal shock-wave lithotomy instrument treatment site are determined, so that broken for adjustment extracorporeal shock wave
Shi Yi positions provide foundation, it is ensured that the kind equipment obtains relatively reliable and effective therapeutic effect in Clinical practice.
Brief description of the drawings
The assembling schematic diagram of the extracorporeal shock-wave lithotomy instrument for the utilization ultrasonic wave positioning treatment site that Fig. 1 uses for the present invention；
Fig. 2 constitutes the connection diagram of echo-bearing system for the present invention with external meters equipment；
The shock wave echo-signal schematic diagram for the calculus reflection that Fig. 3 receives for ultrasonic transducer in the present invention；
Fig. 4 is fundamental diagram of the present invention using shock wave echo-bearing.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the extracorporeal shock-wave lithotomy instrument for the treatment of site is positioned using ultrasonic wave, including seismic wave occurring source 1, cable draw
Line 2, ultrasonic transducer 4, transducer cable 5, watertight capsule 6, aqueous medium 8 and treatment head 9；The shell 3 for the treatment of head 9 is upper
Taper being machined with the side of seismic wave occurring source 1 table top being installed, installing table top, equidistantly each self-retaining of four mounting holes of processing one surpasses
Acoustic wave transducer 4, it is ensured that focus 7 of the acoustic axis of four ultrasonic transducers Jing Guo treatment head 9；Four ultrasonic transducers 4
Transducer cable 5 is connected to, four transducer cables 5 are stretched out outside the shell 3 for the treatment of head 9；One end of cable tail 2 with
Seismic wave occurring source 1 is connected, and the other end is stretched out outside the shell 3 for the treatment of head 9；Watertight capsule 6 is nested with shell 3, and watertight capsule 6
Filled with aqueous medium 8 (degassed water) between shell 3, tissue is set fully to be contacted with watertight capsule 6, it is ensured that shock wave energy is effective
Travel to inside of human body.
This positions the extracorporeal shock-wave lithotomy instrument for the treatment of site using ultrasonic wave, and operation principle is as follows：
1. as shown in Fig. 2 extracorporeal shock-wave lithotomy instrument constitutes echo-bearing system with external meters equipment.Four transducer electricity
One end that cable 5 is stretched out outside shell 3 is connected with signal sampler 13, one end that cable tail 2 is stretched out outside shell 3 and driving work(
Rate source 10 is connected；Driving power source 10 is connected with signal sampler 13 by triggering cable 11, and driving power source 10 sends drive
Voltage signal is moved as the trigger signal of signal sampler；The output signal of signal sampler is transmitted to the input of signal analyzer 12
End.
2nd, initialization debugging.The position of extracorporeal shock-wave lithotomy instrument is adjusted, so that calculus can be in extracorporeal shock-wave lithotomy instrument
Near focal regions；Open signal Acquisition Instrument and signal analyzer, and them is in normal working condition.Pass through driving power source
10 set the size and working frequency of extracorporeal shock-wave lithotomy instrument launching shock intensity of wave, during initialization, in order to ensure treatment
Security, selects the pulse mode and low working frequency of low-power.
3rd, the angles and positions positioning calculus of regulation extracorporeal shock-wave lithotomy instrument.Four are obtained simultaneously by signal sampler to surpass
Calculus echo-signal received by acoustic wave transducer, and time that each ultrasonic transducer is received is measured by signal analyzer
The time delay of ripple signal.Shock wave has precipitous pulse front edge, and the typical waveform of the echo-signal reflected by calculus is such as
Shown in Fig. 3.Drive voltage signal using driving power source 10 measures each ultrasonic transducer output signal as trigger signal
Pulse front edge corresponding to time delay T1、T2、T3、T4, shock wave can be obtained and reflected from focus radiation, by calculus, then
The undergone propagation time is received by each ultrasonic transducer.When in the focal regions that calculus is located at extracorporeal shock-wave lithotomy instrument, echo
The delay time that signal reaches each ultrasonic transducer is identical, is set to t0If calculus is located at outside focal regions, and scatter echo is arrived
Propagation time up to each ultrasonic transducer will be different, in the rectangular coordinate system that Fig. 4 is defined, four ultrasonic transducers
Coordinate position be respectively P1(a, 0,0), P2(0, a, 0), P3(- a, 0,0), P4(0 ,-a, 0), then be located at when calculus deviates z-axis
When in 1st quadrant, echo reaches P1、P2Time will be less than P3、P4.It therefore, it can adjust the angle of extracorporeal shock-wave lithotomy instrument,
Calculus is set to be located at z-axis again, then echo reaches the time delay of each ultrasonic transducer close to identical.If calculus is located at external
Before or after shock wave lithotripsy instrument focal regions, then the time delay of ultrasonic transducer output will be less than or greater than t0, at this point it is possible to
By adjusting the position of extracorporeal shock-wave lithotomy instrument, until echo time delay is close to t0Untill.
Therefore, by monitoring the time delay that four ultrasonic transducers are exported, the angle of extracorporeal shock-wave lithotomy instrument is adjusted
And position, the time delay of each ultrasonic transducer is near the mark time t0, it is ensured that calculus can be in extracorporeal shock-wave lithotomy
In the focal regions of instrument.At this point it is possible to increase pulse power and improve working frequency, normal therapeutic is carried out.Over the course for the treatment of, pass through
The time delay of each ultrasonic transducer is monitored in real time, and carries out the adjustment of extracorporeal shock-wave lithotomy instrument angles and positions in time, can
Ensure clinical treatment safety and effectively.
The method that the extracorporeal shock-wave lithotomy instrument for positioning treatment site using ultrasonic wave carries out calculus positioning, is comprised the following steps that：
Step 1: one end that four transducer cables 5 are stretched out outside shell 3 is connected with signal sampler 13, cable draws
One end that line 2 is stretched out outside shell 3 is connected with driving power source 10；Driving power source 10 is with signal sampler 13 by triggering cable
Line 11 is connected, and driving power source 10 sends drive voltage signal as the trigger signal of signal sampler；Signal sampler it is defeated
Go out the input that signal is transmitted to signal analyzer 12.
Step 2: the position of coarse adjustment extracorporeal shock-wave lithotomy instrument so that focal regions of the calculus close to extracorporeal shock-wave lithotomy instrument；Open
Signal sampler and signal analyzer；The intensity and work of extracorporeal shock-wave lithotomy instrument launching shock ripple are set by driving power source 10
Working frequency, selects the pulse mode and low working frequency of low-power when initial.
Step 3: the angles and positions of fine tuning extracorporeal shock-wave lithotomy instrument position calculus.Use shock wave echo-signal pair
Operation principle that calculus is positioned is as shown in figure 4, origin O using the center of seismic wave occurring source 1 as rectangular coordinate system, four
Individual ultrasonic transducer position in rectangular coordinate system is respectively P1(a, 0,0), P2(0, a, 0), P3(- a, 0,0), P4(0 ,-a,
0), the shock wave of seismic wave occurring source 1 is propagated along z-axis, and in focus O1(0,0, z0) place's focusing；Wherein, a, z0It is not equal to 0.
(1) if calculus is located in the focus of shock wave, when shock wave is sent from seismic wave occurring source 1, after being reflected through calculus
Time delay produced by being received by four ultrasonic transducers is identical, uses t0Represent：
Wherein, c is spread speed of the shock wave in aqueous medium.
(2) if calculus off-focal but being still located at the S (x of focal plane1,y1,z0) on point, now：
x1=r cos θ
y1=r sin θs
Wherein, r is distance of the S points to z-axis, and θ is the angle between S points and x-axis.
Shock wave is applied to calculus time after being sent from seismic wave occurring source 1 is：
And the time that scatter echo reaches four ultrasonic transducers is respectively：
The total delay time that four ultrasonic transducers are received is respectively：
T1=t'0+t1；
T2=t'0+t2
T3=t'0+t3
T4=t'0+t4
(3) due to t'0Identical, when S points be located at first quartile in, i.e., 0<θ<At 90 °：T1＜ T3；T2＜ T4；When S points
In the second quadrant, i.e., 90 °<θ<At 180 °：T1＞ T3；T2＜ T4；When S points be located at third quadrant in, i.e., 180 °<θ<270°
When：T1＞ T3；T2＞ T4；When S points be located at fourth quadrant in, i.e., 270 °<θ<At 360 °：T1＜ T3；T2＞ T4。
Therefore, can be to the location of calculus by monitoring the total delay time that four ultrasonic transducers are received
Judged, and then be adjusted correspondingly.
Claims (7)
1. the localization method of the extracorporeal shock-wave lithotomy instrument for the treatment of site is positioned using ultrasonic wave, the utilization ultrasonic wave positioning treatment of use
The extracorporeal shock-wave lithotomy instrument of point, including treatment head, it is characterised in that：Also include seismic wave occurring source, cable tail, ultrasonic wave transducer
Device, transducer cable, watertight capsule and aqueous medium；On the shell of the treatment head cone is machined with positioned at seismic wave occurring source side
Shape installs table top, installs table top equidistantly processing each one ultrasonic transducer of self-retaining of four mounting holes, four ultrasonic wave transducers
Focus of the acoustic axis of device Jing Guo treatment head；Four ultrasonic transducers are connected to transducer cable, four transducer cables
Line is stretched out outside the shell for the treatment of head；One end of the cable tail is connected with seismic wave occurring source, and the other end stretches out treatment head
Outside shell；Described watertight capsule is nested with shell, and filled with aqueous medium between watertight capsule and shell；
This positions comprising the following steps that for the localization method of the extracorporeal shock-wave lithotomy instrument for the treatment of site using ultrasonic wave：
Step 1: one end that four transducer cables are stretched out outside shell is connected with signal sampler, cable tail stretches out outer
One end outside shell is connected with driving power source；Driving power source sends drive voltage signal and believed as the triggering of signal sampler
Number；The output signal of signal sampler is transmitted to the input of signal analyzer；
Step 2: the position of coarse adjustment extracorporeal shock-wave lithotomy instrument so that focal regions of the calculus close to extracorporeal shock-wave lithotomy instrument；Open signal
Acquisition Instrument and signal analyzer；The intensity and work frequency of extracorporeal shock-wave lithotomy instrument launching shock ripple are set by driving power source
Rate；
Step 3: the angles and positions of fine tuning extracorporeal shock-wave lithotomy instrument position calculus；Using seismic wave occurring source center as
Rectangular coordinate system xyz origin, four ultrasonic transducer positions in rectangular coordinate system are respectively P1(a, 0,0), P2(0, a,
0), P3(- a, 0,0), P4(0 ,-a, 0), the shock wave of seismic wave occurring source is propagated along z-axis, and in focus O1(0,0, z0) place's focusing；
Wherein, a, z0It is not equal to 0；
(1) if calculus is located in the focus of shock wave, when shock wave is sent from seismic wave occurring source, by four after being reflected through calculus
Time delay produced by ultrasonic transducer is received is identical, uses t0Represent：
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Shock wave is applied to calculus time after being sent from seismic wave occurring source is：
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The total delay time that four ultrasonic transducers receive scatter echo is respectively：
T1=t'0+t1；
T2=t'0+t2
T3=t'0+t3
T4=t'0+t4
(3) due to t'0Identical, when S points be located at first quartile in, i.e., 0<θ<At 90 °：T1＜ T3；T2＜ T4；When S points are located at
In second quadrant, i.e., 90 °<θ<At 180 °：T1＞ T3；T2＜ T4；When S points be located at third quadrant in, i.e., 180 °<θ<At 270 °：T1
＞ T3；T2＞ T4；When S points be located at fourth quadrant in, i.e., 270 °<θ<At 360 °：T1＜ T3；T2＞ T4；
Therefore, receive the total delay time of scatter echo to judge the position residing for calculus by four ultrasonic transducers of monitoring
Put, and then adjust the angles and positions of extracorporeal shock-wave lithotomy instrument.
2. the localization method of the extracorporeal shock-wave lithotomy instrument of utilization ultrasonic wave positioning treatment site according to claim 1, it is special
Levy and be：Described shell uses stainless steel material.
3. the localization method of the extracorporeal shock-wave lithotomy instrument of utilization ultrasonic wave positioning treatment site according to claim 1, it is special
Levy and be：The active material of the ultrasonic transducer uses a diameter of 12mm, thickness for 0.2mm piezoelectric ceramic wafer, energy
Receive the ultrasonic signal of 100~10MHz frequency ranges and be converted to corresponding voltage waveform output；Outside the ultrasonic transducer
Shell is cylindrical type, and the acoustic axis of ultrasonic transducer is installed table top with the taper on treatment head shell and is vertically arranged.
4. the localization method of the extracorporeal shock-wave lithotomy instrument of utilization ultrasonic wave positioning treatment site according to claim 1, it is special
Levy and be：Described transducer cable is that twin-core shields watertight cable, and two cored wires connect having for ultrasonic transducer respectively
The cage connection of source material positive and negative electrode, shielding line and ultrasonic transducer；Cable one end is connected with ultrasonic transducer,
The other end is stretched out outside the shell for the treatment of head.
5. the localization method of the extracorporeal shock-wave lithotomy instrument of utilization ultrasonic wave positioning treatment site according to claim 1, it is special
Levy and be：In the step 2, the selection pulse mode of low-power and low when the shock wave of extracorporeal shock-wave lithotomy instrument transmitting is initial
Working frequency.
6. the localization method of the extracorporeal shock-wave lithotomy instrument of utilization ultrasonic wave positioning treatment site according to claim 1, it is special
Levy and be：Described signal sampler is acquired to the output signal of ultrasonic transducer, records exported ultrasonic wave letter
Number waveform；The sample frequency of signal sampler is 20MHz, and vertical quantified precision is 16bit；Signal sampler has more than four
Input channel, collection simultaneously can be carried out to the input signal of four ultrasonic transducers；Signal sampler has outer signal
Input channel is triggered, the synchronous acquisition and writing task of waveform are carried out under external signal triggering.
7. the localization method of the extracorporeal shock-wave lithotomy instrument of utilization ultrasonic wave positioning treatment site according to claim 1, it is special
Levy and be：The multichannel pulse echo signal that described signal analyzer is recorded to signal sampler is analyzed, and is measured
The propagation time of echo-signal received by four ultrasonic transducers.
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| US20190231639A1 (en) * | 2016-09-05 | 2019-08-01 | Hi Impacts Ltd | Shockwave generating device and system |
| CN107905277B (en) * | 2017-10-31 | 2021-01-12 | 苏州工艺美术职业技术学院 | Sound wave rubble arm |
| CN113195114B (en) * | 2018-10-26 | 2022-11-18 | 阿普劳德医疗公司 | Ultrasonic device for use with synthetic cavitation nuclei |
| CN109938989A (en) * | 2019-04-25 | 2019-06-28 | 河南翔宇医疗设备股份有限公司 | A kind of extracorporeal impact wave therapy equipment |
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