CN106200484B - Electric machine control system and method - Google Patents
Electric machine control system and method Download PDFInfo
- Publication number
- CN106200484B CN106200484B CN201610638113.3A CN201610638113A CN106200484B CN 106200484 B CN106200484 B CN 106200484B CN 201610638113 A CN201610638113 A CN 201610638113A CN 106200484 B CN106200484 B CN 106200484B
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- probe
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- control module
- module circuit
- electric machine
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The application provides a kind of electric machine control system and method, the motor is for controlling 4D probe rotation, the system comprises real-time acquisition probe detection parameters and send the probe-head control module circuit of supreme position machine, further include: motor control module circuit of the setting one for driving motor rotation, the motor control module circuit and the probe-head control module circuit are independent from each other two circuit boards；The motor rotation control instruction that the probe-head control module circuit forwards the host computer to send to motor control module, driving motor rotates.The application forwards motor rotation control instruction by probe-head control module circuit, the rotation of motor and the acquisition of probe detection parameters pass through probe-head control module circuit control, so that the time difference of motor rotation and probe detection parameters transmitting-receiving is unique, so that it is guaranteed that the consistency of angle and imaging angle that probe is swung, improves the precision of imaging.
Description
Technical field
This application involves medical fields, and in particular to electric machine control system and method in a kind of ultrasonic imaging field.
Background technique
In ultrasonic imaging field, is usually popped one's head in by 2D and emit and receive ultrasonic wave to realize ultrasonic imaging, obtain two dimension
Flat image.With the development of technology, 4D ultrasonic imaging technique is gradually applied in ultrasonic imaging field, with 2D probe phase
Than 4D probe not only needs to realize transmitting and receives ultrasonic wave, also to realize swinging back and forth for probe array element, form real-time three
Tie up stereo-picture.The prior art is by placing motor (such as stepper motor or direct current generator) inside 2D pops one's head in, then using single
The movement of piece machine control motor swings back and forth to control 2D probe array element along axis, more life-like to realize three-dimensional imaging
Reproduce inside of human body tissue.Due to the rapid development of very large scale integration technology, DSP (Digital Signal
Process, digital signal processor) cost performance be greatly improved so that DSP in the field of motor control application be also cured
Come more extensively.Compared with single-chip microcontroller, DSP have calculating speed faster, digital computation capability is stronger and integrated level is higher also more
Add specialized advantage.However, addition controls the module of motor directly in the control circuit of original 2D probe control system,
The significantly modification that will lead to entire control circuit not only needs to consume great effort, and cost also greatly increases.In order to avoid upper
Loss is stated, the electric machine control system containing DSP module is usually individually made into a control circuit board by the prior art.
As shown in Figure 1, existing probe motor control system includes that (manipulation life can directly be issued by referring to host computer respectively
The computer of order, such as: the PC machine of ultrasonic image-forming system) connected motor control module (such as DSP) and probe-head control module is (such as
FPGA, Field-Programmable Gate Array, i.e. field programmable gate array).In order to realize to electricity in 4D probe
The control of machine generallys use serial communication mode to connect motor control module and host computer, for example, real by RS232 serial ports
Connection between existing motor control module and host computer.When work, host computer passes through RS232 serial ports for motor rotation control instruction
It is sent to motor control module, electricity is controlled after then motor control module handles the motor rotation control instruction received
The movement of machine.And in order to realize the real-time acquisition to probe detection data, it needs to indicate probe-head control module by host computer, opens
The transmitting-receiving for the probe detection data that begins.
Since RS232 serial ports uses unbalanced transmitters and receivers, each signal only has a conducting wire, two transmission
Direction only has a signal ground line, causes electric property bad, the interference being easy to happen between signal.Moreover, RS232 is suitable only for
In the message transmission rate within the scope of 0~20kb/s, high-speed communication is unable to satisfy.Host computer is sending a command to motor control
There can be the delay of data transmission when module, correspondingly, host computer carries out data transmission also between probe-head control module
There are one transmit delay, the two delay times be it is unequal, cause motor rotate and probe detection parameters receive and dispatch it
Between there are the uncertain time difference, will affect the consistency between probe swing angle and imaging settings angle, although can pass through
Image procossing makes up due to consistency bring error, but this will cause the burden of software systems.
Summary of the invention
In view of this, the application provides a kind of electric machine control system and method, visited with solving 4D existing in the prior art
Head motor rotation probe detection parameters transmitting-receiving between existing uncertain time it is poor, and caused by probe swing angle and visit
The technical issues of head imaging angle inconsistency.
Specifically, the application is achieved by the following technical solution:
A kind of electric machine control system, the motor is for controlling 4D probe rotation, and the system comprises real-time acquisition probes
Detection parameters and the probe-head control module circuit for sending supreme position machine, further includes:
The one motor control module circuit for driving motor rotation, the motor control module circuit and the spy are set
Head control module circuit is independent from each other two circuit boards；
The probe-head control module circuit forwards the motor rotation control instruction of the host computer transmission to motor control mould
Block circuit, driving motor rotation.
In one embodiment, the motor control module circuit includes electric machine controller, the probe-head control module circuit
Including probe controller, each signal end of the electric machine controller passes through plug connector with the corresponding signal end of the probe controller
Electrical connection.
In one embodiment, the electric machine controller is DSP.
In one embodiment, the DSP includes an external interface, and the external interface is electrically connected to institute by parallel bus
State probe controller.
In one embodiment, the DSP includes external interrupt interface, and the external interrupt interface is electrically connected to the probe
The interruption control signal end of controller.
Corresponding to electric machine control system of the invention is realized, invention additionally provides a kind of motor control methods, including
Motor operation is controlled using above-mentioned electric machine control system, the method also includes:
The motor control module circuit and probe-head control module circuit sending and receiving data by way of parallel communications,
The parallel communications is controlled by the mode interrupted；
When the motor rotation control instruction that the probe controller of the probe-head control module circuit is sent received from host computer
When, the probe controller sends the electric machine controller of interrupt request singal to the motor control module circuit, by the electricity
The external interrupt interface of machine controller is set to interruption useful signal, and the electric machine controller then responds interruption, reads the probe
The motor rotation control instruction of controller, driving motor rotation.
In one embodiment, the process of parallel communications is controlled by the interrupt mode further include:
After the probe controller has sent motor rotation control instruction to the electric machine controller, the outside is removed
The interrupt request singal of interrupt interface.
In one embodiment, further includes:
Forward the motor rotational parameters of electric machine controller feedback on described by the probe-head control module circuit
Position machine, the motor rotational parameters include that motor operates normally information and motor rotation error message, and the host computer is receiving
After rotating error message to motor, reset motor is forwarded to instruct to motor control module circuit by probe-head control module circuit,
Control motor is resetted.
In one embodiment, the motor control module electronic feedback motor rotational parameters to the host computer process
Are as follows:
The chip selection signal end of the electric machine controller real-time monitoring of the motor control module circuit electric machine controller, works as institute
Stating chip selection signal end is piece when selecting useful signal, and the probe that the probe-head control module circuit is written in motor rotational parameters is controlled
The motor rotational parameters are sent to host computer by probe controller by device.
In one embodiment, the probe controller periodicity sending piece selects useful signal to the piece of the electric machine controller
Select signal end.
Beneficial effects of the present invention: motor rotation control instruction, the rotation of motor are forwarded by probe-head control module circuit
Acquisition with probe detection parameters passes through probe-head control module circuit control, so that motor rotation and probe detection parameters transmitting-receiving
Time difference it is unique, so that it is guaranteed that probe swing angle and imaging angle consistency, improve the precision of imaging.In addition,
On the basis of not changing existing 2D probe-head control module circuit design, increases another relatively independent driving motor that is used for and rotate
Motor control module circuit, avoid the step of significantly modifying existing probe control circuit, save cost.
Detailed description of the invention
Fig. 1 is the principle schematic diagram of the electric machine control system of the prior art；
Fig. 2 is a kind of principle schematic diagram of electric machine control system provided by the present application；
Fig. 3 is the structural schematic diagram of the electric machine control system of specific embodiment provided by the present application；
Fig. 4 is the external interface structural block diagram of specific embodiment shown in Fig. 3；
Fig. 5 is the external interface timing relationship schematic diagram of specific embodiment shown in Fig. 3；
Fig. 6 is the flow chart of motor control method provided by the present application.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It referring to fig. 2, is a kind of structure principle chart of electric machine control system provided by the present application, the motor is for controlling 4D spy
The rotation of head, which includes host computer, probe-head control module circuit and motor control module circuit.Wherein, it visits
One end of head control module circuit and host computer communicate to connect, and the other end and motor control moding circuit communicate to connect.Pass through probe
The motor rotation control instruction that control module circuit forwards host computer to send to motor control module circuit, driving motor rotates.
In this application, probe-head control module circuit and motor control module circuit are two mutually independent circuit boards,
Probe-head control module circuit uses existing 2D probe-head control module circuit, increases another piece dedicated for driving motor rotation
Motor control module circuit avoids the step of significantly modifying existing probe control circuit, saves cost.
The host computer of the application obtains probe detection parameters by probe-head control module circuit, and equally, host computer also passes through
Probe-head control module circuit forwarding motor rotation control instruction parameter gives motor control module circuit, two parameter propagation delay time
Between difference it is identical so that motor rotation with probe detection parameters the transmitting-receiving time difference be it is determining, improve probe be imaged
Precision.
Wherein, probe-head control module circuit includes probe controller, and motor control module circuit includes electric machine controller, is led to
It crosses plug connector and is electrically connected each signal end of electric machine controller with the corresponding signal end of probe controller, to realize control mould of popping one's head in
Communication connection between block circuit and motor control module circuit.
Motor control module circuit and probe-head control module circuit can be by serial ports (such as RS232 or RS485) or parallel
Bus connection communication can specifically select according to the actual situation.In order to adapt to the demand of high-speed transfer, and increase the steady of data transmission
Qualitative, the motor control module circuit of the application is connected to probe-head control module circuit by parallel bus.To realize to probe
The control and communication of controller, optionally, electric machine controller include an external interface, and external interface is electrically connected by parallel bus
To probe controller.
Referring to Fig. 3, probe controller selects FPGA, and electric machine controller selects the preferable DSP of performance, the DSP to have outside
Interface, specifically, the external interface are the asynchronous bus of a multiplex, after being electrically connected with external equipment such as FPGA, are passed through
Parallel communications transmits data.
Referring to fig. 4, external interface includes multiple signal ends, such as chip selection signal end XZCSxxx (xxx 0,1,2,6 and 7
Deng), data/address bus XD, address bus XA, write enable signal end XWE and read enable signal end XRD etc..
One feasible to be achieved in that: the external interface of DSP is mapped to 5 fixed memory space regions, respectively
For Zone0, Zone1, Zone2, Zone6 and Zone7.Each memory space region respectively corresponds the piece choosing letter an of external interface
Number end chooses corresponding memory space region as communication when the signal at corresponding chip selection signal end is that piece selects useful signal
When data buffer storage space.Wherein, piece selects useful signal to be arranged to low level effective, naturally it is also possible to which selection is high as needed
Level selects useful signal as piece.
Zone0 and Zone1, Zone6 and Zone7 pass through respectively to be exported " with door ", and such Zone0 and Zone1 just form one
A shared chip selection, Zone6 and Zone7 also form a shared chip selection, i.e., effective for piece choosing with door output accordingly
When signal, corresponding two memory space regions can access.
Wherein, data/address bus is 16, and address bus is 19.The application is in transmission electrical machine rotation control instruction or motor
When rotational parameters, 16 bit data bus are both needed to carry out the transmission of data, and selecting 3 address bus in address bus is that may include
The address bit of the motor rotation control instruction of host computer.
Referring to Fig. 5, guidance (LEAD), activation (ACTIVE) can be divided into the read-write operation of external interface and tracked
(TRAIL) three phases, in a read access and write access, the time of this three phases can be set separately, specifically logical
The XTIMING register for crossing external interface is configured, XTIMING register include XTIMING0, XTIMING1,
XTIMING2, XTIMING6 and XTIMING7 totally 5 corresponding positions, respectively correspond control Zone0, Zone1, Zone2, Zone6 and
Guidance, activation and the time for tracking three phases in this 5 each memory space region Zone7.
The access clock frequency of external interface is provided by internal XTIMCLK clock, the system clock SYSCLKOUT of DSP
Up to 150MHz, under default conditions, XTIMCLK is that the half of SYSCLKOUT up to 75MHz can satisfy high-speed data communication
Demand, i.e., the read or write speed of external interface is up to 75MHz.
To get through the communication channel between DSP and FPGA, by plug connector by each signal pins of DSP external interface with
The signal pins of FPGA corresponding function are connected.The plug connector of the application includes two row function interfaces, and every socket interface is
Multiple and identical, data are distributed with from top to bottom, address, piece choosing, interrupt, the letter of write and read for multiple interfaces of the application
Number interface is connected the corresponding signal interface of two rows of interfaces by conducting wire in the inside of plug connector.Using external
When the communication of interface realization electric machine controller and probe controller, either read operation or write operation, electric machine controller is made
For main equipment, probe controller is the i.e. probe controller state that can only read and judge signal wire from equipment, without can control
The external interface signals end of electric machine controller.Thus it need to only be controlled in the motor rotation that probe controller receives host computer transmission
When instruction, electric machine controller need to be just read the data of probe controller.The DSP of the application further includes external interrupt
Interface XINT1, by interrupting control mode realization only when host computer sends motor rotation control instruction to probe controller,
The data of electric machine controller reading probe controller.
When connecting DSP and FPGA, by the data terminal (XD) of FPGA, address end (XA), chip selection signal end (CS), read to enable
It is corresponding according to pin function after end (XR), the signal end for writing enable end (RD) and interruption control signal end (INT), pin are drawn
Plug connector is inserted into wherein in a socket interface, similarly, by the data terminal (XD) of external interface, address end (XA), chip selection signal
Enable end (XWE), the signal end for writing enable end (XRD) and the extraction of external interrupt interface (XINT1) pin are read in end (XZCSx)
Afterwards, being electrically connected for external interface and FPGA also can be realized according in pin function insertion another socket interface of plug connector.
And in order to enable each pin of external interface and FPGA are preferably fastened in the interface of plug connector, with steadily
The transmission for carrying out data is inserted into fastener after pin is inserted into corresponding interface in interface, for firmly blocking pin
In corresponding interface, it is not easy to drop out.
When DSP controls motor rotation, the numerical value model that motor can identify is converted to for DSP to be sent to the control signal of motor
It encloses, motor driver need to be also set between DSP and motor, DSP and motor are connected by motor driver.Such as when probe electricity
When machine is stepper motor, which may be selected drv8825 driver, convert what DSP was sent by drv8825 driver
Motor control signal is driving stepper motor rotation after the identifiable numberical range of stepper motor.
4D probe is internal to be additionally provided with position-detection sensor (not shown), for detecting the rotational angle of motor,
And feed back to DSP.Optionally, which is Hall sensor.DSP rotates the rotational angle and default motor
Angle (i.e. the motor rotational angle in motor rotation control instruction that DSP is received) is compared, and then indicates motor if they are the same
It operates normally, DSP feeds back motor and operates normally information to host computer；Otherwise, indicating motor rotation, there are mistake, DSP feedback electricity
Machine rotates error message to host computer.
In addition, motor control module circuit further includes power supply module, the application uses dual-output power supply adjuster
External power supply, operating voltage needed for electric machine controller is provided and IO voltage.
It is a kind of flow chart of motor control method provided by the present application referring to Fig. 6, this method utilizes above-mentioned motor control
System come control 4D probe in motor operation.It wherein, is the needs for meeting high-speed communication, improve data transfer efficiency, this
The motor control module circuit and probe-head control module circuit of application are the sending and receiving data by way of parallel communications.Due to electricity
Machine control module circuit is by external interface and probe-head control module circuit communication, and motor control module circuit is set as master
The standby data that can only read or send probe-head control module circuit, to read the motor rotation in probe-head control module circuit in time
Control instruction, specifically, the parallel communications of the application are controlled by the mode interrupted.
Specific step is as follows for this method:
Step S1: the motor rotation control instruction that probe controller is sent received from host computer.In this way, motor rotation control
The transmission of instruction and the acquisition of probe detection parameters pass through probe-head control module circuit and carry out, so that motor rotation control instruction
It is unique with the time difference of probe detection parameters transmitting-receiving, so that it is guaranteed that the consistency of angle and imaging angle that probe is swung, is improved
The precision of imaging.
Step S2: probe controller sends interrupt request singal to electric machine controller.Specifically, interrupt request singal be by
The external interrupt interface institute of electric machine controller is received.
Step S3: the external interrupt interface of electric machine controller is set to interrupt useful signal, and specifically, the application selects high
Level is as useful signal is interrupted, when external interrupt interface does not receive probe controller and sends interrupt request singal, outside
Portion's interrupt interface is low level, can only send data to probe controller by electric machine controller, and the data of probe controller
It can not be transferred in electric machine controller.
Step S4: electric machine controller response is interrupted, and reads the motor rotation control instruction of probe controller, and driving motor turns
It is dynamic.Motor rotation control instruction is sent to motor driver by electric machine controller, and device is driven by motor being converted to motor can identify
Signal, thus driving motor rotate.
Step S5: the interrupt request singal of external interrupt interface is removed.Step S5 is to have sent motor in probe controller
It is executed after rotation control instruction to electric machine controller, i.e., low level is sent to the outside of electric machine controller by probe controller
Interrupt interface, so that electric machine controller end interrupt program, such as writes data to probe controller to execute other programs.
For the rotation for accurately controlling motor, the application also passes through probe-head control module circuit forwarding electric machine controller feedback
Motor rotational parameters to host computer, motor rotational parameters include motor operate normally information and motor rotation error message, if on
Position machine receives motor and operates normally information, then host computer continues to send motor rotation control instruction control motor operation.
If host computer receives motor rotation error message, reset motor instruction is forwarded by probe-head control module circuit
It to motor control module circuit, controls motor and is resetted, control motor is reruned to accurate location, to obtain accurate location
The probe detection parameters at place prevent motor from rotating the ultrasound data of probe acquisition mistake after mistake, cause to perplex.
Certainly, after host computer receives motor rotation error message, command for stopping can also be sent and directly terminate motor
The work of control module circuit and probe-head control module circuit prevents caused by obtaining the probe detection parameters of more inaccuracy
The wasting of resources.
The motor control module circuit of the application writes data to the process of probe-head control module circuit are as follows:
The chip selection signal end of the electric machine controller real-time monitoring of the motor control module circuit electric machine controller is believed when piece selects
Number end is piece when selecting useful signal, and the probe controller of motor rotational parameters write-in probe-head control module circuit is controlled by probe
The motor rotational parameters are sent to host computer by device processed.
The application selects low level to select useful signal as piece, for the motor in real time acquiring motor control module circuit
Rotational parameters feed back to host computer, and probe controller is periodicity sending low level to the chip selection signal end of electric machine controller.
It is to pass through spy that probe controller, which sends the time interval that piece selects useful signal to the chip selection signal end of electric machine controller,
What the built-in timer of head controller was configured, specifically can flexibly it set according to actual needs.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (10)
1. a kind of electric machine control system, the motor is for controlling 4D probe rotation, and the system comprises the inspections of real-time acquisition probe
It surveys parameter and sends the probe-head control module circuit of supreme position machine, which is characterized in that the probe-head control module circuit is 2D spy
Head control module circuit, further includes:
The one motor control module circuit for driving motor rotation is set, and the motor control module circuit and the probe are controlled
Modular circuit processed is independent from each other two circuit boards, and the motor control module circuit and the probe-head control module circuit are logical
It crosses plug connector and realizes electrical connection；
The motor rotation control instruction that the probe-head control module circuit is sent received from the host computer, also, the probe
The motor rotation control instruction that control module circuit forwards the host computer to send to motor control module circuit, driving motor turns
It is dynamic；
The motor rotation control instruction is sent by the probe-head control module circuit and acquires the probe detection parameters, is made
The time difference for obtaining the motor rotation control instruction and the probe detection parameters transmitting-receiving is unique.
2. electric machine control system as described in claim 1, which is characterized in that the motor control module circuit includes motor control
Device processed, the probe-head control module circuit includes probe controller, and each signal end of the electric machine controller and the probe are controlled
The correspondence signal end of device processed is electrically connected by plug connector.
3. electric machine control system as claimed in claim 2, which is characterized in that the electric machine controller is DSP.
4. electric machine control system as claimed in claim 3, which is characterized in that the DSP includes an external interface, the outside
Interface is electrically connected to the probe controller by parallel bus.
5. electric machine control system as claimed in claim 3, which is characterized in that the DSP includes external interrupt interface, described outer
Portion's interrupt interface is electrically connected to the interruption control signal end of the probe controller.
6. a kind of motor control method, which is characterized in that including the use of motor control system as described in any one in claim 1-5
System control motor operation, the method also includes:
The motor control module circuit and probe-head control module circuit sending and receiving data by way of parallel communications, it is described
Parallel communications is controlled by the mode interrupted；
When the motor rotation control instruction that the probe controller of the probe-head control module circuit is sent received from host computer, institute
The electric machine controller that probe controller sends interrupt request singal to the motor control module circuit is stated, by the motor control
The external interrupt interface of device is set to interruption useful signal, and the electric machine controller then responds interruption, reads the probe controller
Motor rotation control instruction, driving motor rotation.
7. motor control method as claimed in claim 6, which is characterized in that control parallel communications by the interrupt mode
Process further include:
After the probe controller has sent motor rotation control instruction to the electric machine controller, the external interrupt is removed
The interrupt request singal of interface.
8. motor control method as claimed in claim 6, which is characterized in that further include:
Forward the motor rotational parameters of electric machine controller feedback to the host computer by the probe-head control module circuit,
The motor rotational parameters include that motor operates normally information and motor rotation error message, and the host computer is receiving motor
After rotating error message, reset motor is forwarded to instruct to motor control module circuit, control electricity by probe-head control module circuit
Machine is resetted.
9. motor control method as claimed in claim 8, which is characterized in that the motor control module electronic feedback motor turns
Move the process of parameter to the host computer are as follows:
The chip selection signal end of the electric machine controller real-time monitoring of the motor control module circuit electric machine controller, when described
When signal end being selected to select useful signal for piece, motor rotational parameters are written to the probe controller of the probe-head control module circuit,
The motor rotational parameters are sent to host computer by probe controller.
10. motor control method as claimed in claim 9, which is characterized in that the probe controller periodicity sending piece choosing
Useful signal is to the chip selection signal end of the electric machine controller.
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| CN201610638113.3A CN106200484B (en) | 2016-08-05 | 2016-08-05 | Electric machine control system and method |
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| CN105686852A (en) * | 2014-11-24 | 2016-06-22 | 深圳大学 | Ophthalmology diagnosis-based ultrasonic pulse excitation and echo acquisition system |
| CN104601062A (en) * | 2015-01-15 | 2015-05-06 | 北京奥普维尔科技有限公司 | FPGA based stepping motor control system and method |
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Address after: 110167 No. 177-1 Innovation Road, Hunnan District, Shenyang City, Liaoning Province Applicant after: DongSoft Medical System Co., Ltd. Address before: Hunnan New Century Road 110179 Shenyang city of Liaoning Province, No. 16 Applicant before: Dongruan Medical Systems Co., Ltd., Shenyang |
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