CN104622505B - Ultrasonic detecting system and method for intracranial blood flow - Google Patents
Ultrasonic detecting system and method for intracranial blood flow Download PDFInfo
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Abstract
The invention provides an ultrasonic detecting system for intracranial blood flow. The system comprises a probe, a transmitting and receiving control module, a time gain wavelength amplifier, a wave velocity synthesis module and a signal processing module, wherein the probe comprises a plurality of ultrasonic transducer array elements, and the size of the probe is in accordance with the size of a skull; the transmitting and receiving control module controls the ultrasonic transducer array elements of the probe to transmit ultrasonic pulses into the patient skull, receive ultrasonic echo waves generated by the ultrasonic pulses, and transform the ultrasonic echo waves into electrical signals; the time gain wavelength amplifier is used for amplifying the electrical signals generated by the ultrasonic transducer array elements; the wave velocity synthesis module is used for processing the electrical signals which are amplified by the time gain wavelength amplifier and forming synthesized signals; the signal processing module is used for processing the synthesized signals generated by the wave velocity synthesis module and generating processing results. The invention further provides an ultrasonic detecting method for the intracranial blood flow, and the method enables an operator to easily capture Doppler frequency spectrum and enables intracranial blood flow detecting to be more straightforward.
Description
Technical field
The present invention relates to blood flow detection field, and in particular to a kind of ultrasonic intracranial blood flow detection system and method.
Background technology
Intracranial vessel inspection judges that the health of people has a vital effect to analysis, but the sound transparency of skull
Directly affect detection successful.Particularly, intracranial vessel inspection is placed on Nie's window or neck occipital bone macropore generally by probe
Place, makes acoustic beam through Nie's window or Foramen magnum to detect intracranial vessel.
Used as non-invasive, economic, simple and easy to do, reproducible inspection method, transcranial doppler blood flow analysis instrument TCD is
It is widely used in clinic, with Real-time and Dynamic the advantage of blood stream rheology is evaluated.But, transcranial doppler analysis
Instrument typically carries out Doppler's spectrogram imaging from single array element probe, it is impossible to enough that intracranial vessel is accurately positioned.Simultaneously as
Blood vessel cannot be obtained and move towards information, the angle between supersonic speed and blood vessel trend cannot determine, cause corresponding Doppler measurement
There is certain error in speed.
DCFI CDFI can be very good solve problem above, it be by Color Doppler Flow into
As technology completes the detection to blood vessel and diagnosis, it can both observe the hemodynamic change that narrow or occlusive disease is produced
Change, again it is observed that pathological changes cause Endovascular blood flow full abnormal, and cerebral tissue architectural feature.
But, current CDFI probe stock sizes are larger, and detecting head surface can not well agree with skull, so as to affect
Imaging effect.In addition, the penetrance of CDFI probes is lower than TCD probes, so as to the accuracy for affecting intracranial vessel to detect.
It is not difficult to find out, prior art also has certain defect.
The content of the invention
The present invention provides a kind of ultrasonic intracranial blood flow detection system and method, not only can improve Color Doppler Flow into
The effect of picture, can also improve the accuracy of intracranial vessel detection.
For achieving the above object, the invention provides a kind of ultrasonic intracranial blood flow detection system, including：
Probe, the probe includes multiple ultrasonic transducer array elements, and size and the skull of the probe agree with；
Transmitting receives control module, and the transmitting receives the plurality of ultrasonic transducer that control module controls the probe
Array element launches ultrasonic pulse, receives ultrasonic echo produced by the ultrasonic pulse and is converted into the ultrasonic echo to intracranial
The signal of telecommunication；
Time gain wavelength amplifier, for putting to the signal of telecommunication that the plurality of ultrasonic transducer array element is generated
Greatly；
Velocity of wave synthesis module, at the signal of telecommunication after being amplified to the time gain wavelength amplifier described in
Reason, and form composite signal；
Signal processing module, for processing the composite signal that the velocity of wave synthesis module is generated, and at generation
Reason result；
Display module, for showing the result that the signal processing module is generated；
Wherein, the signal processing module includes：
B signal processes submodule, for processing the composite signal, and generates black white image data；
Color signal processing submodules, for processing the composite signal, and generate color blood-stream image number
According to；
PW signal processing submodules, for processing the composite signal, and generate doppler spectrum data.
Present invention also offers a kind of carry out ultrasonic intracranial blood flow detection using described ultrasonic intracranial blood flow detection system
Method, including：
Transmitting ultrasonic pulse；
The ultrasonic echo that the ultrasonic pulse is given birth to is received, and the ultrasonic echo is converted into into the signal of telecommunication；
The signal of telecommunication is amplified；
The signal of telecommunication after amplification is processed, composite signal is formed；
The composite signal is processed, and generates result；
The result for being generated is shown.
The present invention proposes a kind of ultrasonic intracranial blood vessel detecting system and method, by phased using a kind of undersized low frequency
Battle array probe, can solve the problem that DCFI probe agrees with skull, improve Color Doppler Flow
Imaging and the penetrance of spectral imaging, and then improve imaging effect.The present invention is processed ultrasound echo signal first, shape
Into composite signal, then multi task process is carried out to composite signal, improve the accuracy of spectrum measurement, make operator be easier to catch
Doppler frequency spectrum is obtained, makes the blood flow detection of intracranial more simple and clear.
Description of the drawings
A kind of structured flowchart of the embodiment of ultrasonic intracranial blood flow detection system that Fig. 1 is provided for the present invention；
Fig. 2 is the structured flowchart that B signal processes submodule in Fig. 1；
Fig. 3 is the structured flowchart of Color signal processing submodule in Fig. 1；
Fig. 4 is the structured flowchart of PW signal processing submodule in Fig. 1；
A kind of flow chart of the embodiment of ultrasonic intracranial blood flow detection method that Fig. 5 is provided for the present invention；
Fig. 6 be the present invention provide a kind of ultrasonic intracranial blood flow detection method embodiment in composite signal the first at
Reason mode flow chart；
Fig. 7 be a kind of ultrasonic intracranial blood flow detection method that the present invention is provided embodiment at second of composite signal
Reason mode flow chart；
Fig. 8 be the present invention provide a kind of ultrasonic intracranial blood flow detection method embodiment in composite signal the third at
Reason mode flow chart.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention,
Technical scheme in the embodiment of the present invention is clearly and completely described.It should be noted that in accompanying drawing or description,
Similar or identical element uses identical reference.
The embodiment of the present invention proposes a kind of ultrasonic intracranial blood flow detection system and method, by using a kind of undersized low
Frequency phased array probe, can solve the problem that DCFI probe agrees with skull, improve colored how general
The penetrance of blood flow imaging and spectral imaging is strangled, and then improves imaging effect.The present invention is carried out first to ultrasound echo signal
Process, form composite signal, then multi task process is carried out to composite signal, improve the accuracy of spectrum measurement, make operator
Doppler frequency spectrum is easily captured, makes the blood flow detection of intracranial more simple and clear.
Ultrasonic intracranial blood flow detection system is described further below：
A kind of ultrasonic intracranial blood flow detection system, as shown in figure 1, including：
Probe, the probe includes multiple ultrasonic transducer array elements, and these ultrasonic transducer array elements can be to scanning target（Example
Such as, patient's intracranial）Transmitting ultrasonic pulse（Ultrasound wave）And the ultrasonic echo of scanning target reflection is received, and ultrasonic echo is changed
Into the signal of telecommunication.
In embodiments of the invention, size and the skull of the probe agree with.Here, the size and skull of described probe
" agreeing with " refers to that the size in the various holes in the size and skull of probe is adapted so that the ultrasonic transducer array element of probe
The ultrasound wave of transmitting can be spread into inside skull without being stopped by skull.
For example, in one embodiment, the size of probe can agree with the Foramen magnum of skull or Nie's window, that is, pop one's head in
The Foramen magnum of size and skull or the size of Nie's window be adapted so that the ultrasonic transducer array element transmitting of probe it is super
Sound wave can rush across Foramen magnum or Nie's window is spread into inside skull without being stopped by skull.It is easy to understand, the present invention
Embodiment in, the size of probe can also spread into intracranial by it with any other ultrasound wave that is adapted to allow for of skull
The size in hole agree with.
It should be noted that the present embodiment preferred probes are low frequency phased array probe, relative to conventional art, the present embodiment
The low phased array probe of the less mid frequency of size is devised, the Breadth Maximum popped one's head in the present embodiment is 12mm, its
Mid frequency is less than 2.5MHz.Small size can be easier to agree with Foramen magnum or Nie's window, so as to obtain preferably detection
Performance.The probe global shape can be rectangle either polygon or ellipse.
Transmitting receives control module（Also referred to as launch/receive control module）, transmitting reception control module control probe
Multiple ultrasonic transducer array elements to intracranial launch ultrasonic pulse, receive ultrasonic pulse produced by ultrasonic echo（I.e. by intracranial
Tissue or organic reflex or back scattered ultrasonic echo）And these ultrasonic echos are converted into into the signal of telecommunication.The transmitting receives control
Running parameter and the works such as the ultrasonic transducer array element of shape, time delay and participation transmitting of ultrasonic pulse of molding block control transmitting
Make condition.
Time gain wavelength amplifier, for being amplified to the signal of telecommunication that the ultrasonic transducer is generated.Need
Bright, time gain wavelength amplifier described in the signal of telecommunication Jing amplifies, to compensate the ultrasonic attenuation under different depth.
Velocity of wave synthesis module, at the signal of telecommunication after being amplified to the time gain wavelength amplifier described in
Reason, and form composite signal.It should be noted that the concrete effect that the velocity of wave synthesis module plays is：Adjust each array element to surpass
The time delay of sound echo simultaneously carries out apodization to it, to improve the current signal to noise ratio for receiving ultrasound echo signal.
Signal processing module, for processing the composite signal that the velocity of wave synthesis module is generated, and at generation
Reason result.
Display module, for showing the result that the signal processing module is generated.
Preferably, the signal processing module includes：B signal processes submodule, for carrying out to the composite signal
Process, and generate black white image data；Color（It is colored）Signal processing submodule, for processing the composite signal,
And generate color blood-stream image data；How general PW signal processing submodules, for processing the composite signal, and generate
Strangle frequency spectrum data.
It should be noted that preferably, as shown in Fig. 2 B signal process submodule includes：
Quadrature demodulation unit, for the composite signal to be decomposed, and generates decomposition result；Detection unit, is used for
The decomposition result that the quadrature demodulation unit is generated is processed, and obtains image envelope information；Image envelope processing unit,
For carrying out logarithmic compression and image procossing to described image envelope information, and generate black white image data.
Preferably, as shown in figure 3, the Color signal processing submodule includes：
Quadrature demodulation unit, for the composite signal to be decomposed, and generates decomposition result；Wall filtering unit, uses
In the decomposition result that the quadrature demodulation unit is generated is carried out into wall filtering process, that is, filter strong group in the decomposition result
Ultrasound echo signal is knitted, and generates result；Blood flow parameter acquiring unit, for the process knot generated according to wall filtering unit
Fruit obtaining blood flow parameter, preferably, the blood flow parameter includes but is not limited to blood flow rate, variance and energy；After blood flow
Processing unit, for processing the blood flow parameter, the present embodiment is preferably related using frame is carried out to the blood flow parameter
With smooth operation etc. to improve blood flow form, and generate color blood-stream image data.
Preferably, as shown in figure 4, the PW signal processing submodule includes：
Quadrature demodulation unit, for the composite signal to be decomposed, and generates decomposition result.
Range gating unit for carrying out range gating and raw by the decomposition result that the quadrature demodulation unit is generated
Into range gating result.It should be noted that I, Q two-way component after the quadrature demodulation unit decomposition needs Jing respectively
Range gating, i.e., add up within the specific time period, and the accumulation interval section and pulse Doppler launch pulse all by operator's root
Select according to practical situation.
Wall filtering unit, for the range gating result that the range gating unit is generated to be carried out into wall filtering process,
And generate result；It should be noted that the wall filtering unit is to the range gating using a high pass filter
As a result wall filtering process is carried out, it can filter the clutter caused by static or microinching tissue.
Power spectrum acquiring unit, for obtaining the power spectrum of the result that the wall filtering unit is generated；Need
Bright, after the wall filtering cell processing described in I, Q two-way component, consists predominantly of the echo that erythrocyte motion causes, quilt
Power spectrum acquiring unit is sent to, preferably, the power spectrum acquiring unit typically calculates work(using fast fourier transform
Rate is composed.
Spectrum compression unit, for being compressed process to the power spectrum acquired in the power spectrum acquiring unit, and generates
Doppler spectrum data.It should be noted that due to the power spectrum dynamic range calculated it is too big, the work(for calculating every time
Rate spectrum needs to be processed through compression, to be compressed to gray scale indication range.The last Doppler spectrum shown on display module
What is represented is certain moment, the power spectral intensity of certain speed, i.e. certain frequency shift (FS).
Preferably, the PW signal processing submodule is further included：
Spectrum envelope detector unit, for being analyzed to the result that the spectrum compression unit is generated, and generates many
General Le frequency spectrum data.Preferably, the Doppler frequency spectrum number that the spectrum envelope detector unit is generated to the spectrum compression unit
Data according to after are analyzed, with from motion tracking peak velocity and average speed over time, and Doppler frequency
Show in real time on spectrogram.
Preferably, the PW signal processing submodule is further included：
Sound processing unit, for the result that the wall filtering processing unit is generated to be processed, and acquisition sound
Sound data；D/A modules, for carrying out conversion process to the voice data, and obtain conversion process result；Speaker, is used for
Receive and play the conversion process result of the D/A units.I, Q two paths of data after wall filtering can also be sent to sound
Sound processing module, is raised one's voice with forming positive blood flow and inverse blood flow two-way voice data, and being sent to Jing after the conversion of D/A modules respectively
Device, produces positive and inverse blood flow sound.
Preferably, the present embodiment is additionally provided and a kind of carries out ultrasonic cranium using described ultrasonic intracranial blood flow detection system
The method of interior blood flow detection, as shown in figure 5, it includes：
Transmitting ultrasonic pulse；It should be noted that generation ultrasonic pulse herein, also including the shape of control ultrasonic pulse
The array element of shape, time delay and participation transmitting.
The ultrasonic echo that the ultrasonic pulse is given birth to is received, and the ultrasonic echo is converted into into the signal of telecommunication.
The signal of telecommunication is amplified；It is to the purpose that the signal of telecommunication is amplified：Compensation is under different depth
Ultrasonic attenuation.
The signal of telecommunication after amplification is processed, composite signal is formed；Adjust the time delay of each array element ultrasonic echo and right
It carries out apodization, to improve the current signal to noise ratio for receiving ultrasound echo signal.
The composite signal is processed, and generates result.
The result for being generated is shown.
Preferably, to " composite signal is processed, and generates result ", specifically by the composite signal
Carry out three kinds of process：
As shown in fig. 6, the first processing mode is：
The composite signal is decomposed, and is generated decomposition result；The decomposition result is processed, and obtains figure
As envelope information；Logarithmic compression and image procossing are carried out to described image envelope information, and generates black white image data.
As shown in fig. 7, second processing mode is：
The composite signal is decomposed, and is generated decomposition result.The decomposition result is carried out into wall filtering process, and
Generate result；Filter the strong organization ultrasonic echo-signal in the decomposition result.Come according to the result for being generated
Obtain blood flow parameter；Preferably, the blood flow parameter includes but is not limited to blood flow rate, variance and energy.To the blood flow
Parameter is processed, and the present embodiment is preferably adopted carries out frame correlation and smooth operation etc. to the blood flow parameter to improve blood flow shape
State, and generate color blood-stream image data.
As shown in figure 8, the third processing mode is：
The composite signal is decomposed, and is generated decomposition result.The decomposition result for being generated is carried out into range gating,
And generate range gating result；I, Q two-way component after decomposition needs Jing range gatings respectively, i.e., in the specific time period
Interior cumulative, the accumulation interval section and pulse Doppler transmitting pulse are all selected by operator according to practical situation.By the distance
Strobed result carries out wall filtering process, and generates result；The present embodiment preferably using a high pass filter to it is described away from
Wall filtering process is carried out from strobed result, it can filter the clutter caused by static or microinching tissue.Obtain the wall
The power spectrum of the result generated after Filtering Processing；Preferably, typically calculating power using fast fourier transform
Spectrum.Process is compressed to acquired power spectrum, and generates doppler spectrum data；Due to the power spectrum dynamic calculated
Scope is too big, and the power spectrum for calculating every time needs to be processed through compression, to be compressed to gray scale indication range.Finally show
What Doppler spectrum was represented is certain moment, the power spectral intensity of certain speed, i.e. certain frequency shift (FS).
Preferably, described the third processing mode also includes：
The result generated after processing result compression is analyzed, and generates doppler spectrum data；To certainly
Motion tracking peak velocity and average speed over time, and show in real time on Doppler spectrum.
Preferably, described the third processing mode also includes：
The result generated after wall filtering is processed is processed, and obtains voice data；The voice data is carried out
Conversion process, and obtain conversion process result；The conversion process result of the D/A units is received and played using speaker.Institute
Stating I, Q two paths of data after wall filtering can also be sent to acoustic processing module, to form positive blood flow and inverse blood flow two
Road voice data, and Jing after the conversion of D/A modules it is sent to speaker respectively, produce positive and inverse blood flow sound.
The embodiment of the present invention proposes a kind of ultrasonic intracranial blood flow detection system and method, by using a kind of undersized low
Frequency phased array probe, can solve the problem that DCFI probe agrees with skull, improve colored how general
The penetrance of blood flow imaging and spectral imaging is strangled, and then improves imaging effect.The present invention is carried out first to ultrasound echo signal
Process, form composite signal, the multi task process of B signal, Color signals and PW signals is then carried out to composite signal, improve
The accuracy of spectrum measurement, makes operator easily capture Doppler frequency spectrum, makes the blood flow detection of intracranial more simple and clear.
Finally it should be noted that：Above example only to illustrate technical scheme, rather than a limitation；Although
The present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To modify to the technical scheme described in previous embodiment, or equivalent is carried out to which part technical characteristic；And
These modifications are replaced, and do not make the spirit and model of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution
Enclose.
Claims (10)
1. a kind of ultrasonic intracranial blood flow detection system, it is characterised in that include：
Probe, the probe includes multiple ultrasonic transducer array elements, and size and the skull of the probe agree with；
Transmitting receives control module, and the transmitting receives the plurality of ultrasonic transducer array element that control module controls the probe
Telecommunications is converted into the ultrasonic echo produced by intracranial transmitting ultrasonic pulse, the reception ultrasonic pulse and by the ultrasonic echo
Number；
Time gain wavelength amplifier, for being amplified to the signal of telecommunication that the plurality of ultrasonic transducer array element is generated；
Velocity of wave synthesis module, for processing the signal of telecommunication after time gain wavelength amplifier is amplified described in, and
Form composite signal；
Signal processing module, for processing the composite signal that the velocity of wave synthesis module is generated, and generates process knot
Really；
Display module, for showing the result that the signal processing module is generated；
Wherein, the signal processing module includes：
B signal processes submodule, for processing the composite signal, and generates black white image data；
Color signal processing submodules, for processing the composite signal, and generate color blood-stream image data；
PW signal processing submodules, for processing the composite signal, and generate doppler spectrum data.
2. ultrasonic intracranial blood flow detection system according to claim 1, it is characterised in that the probe is low frequency phased array
Probe.
3. ultrasonic intracranial blood flow detection system according to claim 2, it is characterised in that the Breadth Maximum of the probe is
12mm, its mid frequency is less than 2.5MHz.
4. ultrasonic intracranial blood flow detection system according to claim 3, it is characterised in that the B signal processes submodule
Including：
Quadrature demodulation unit, for the composite signal to be decomposed, and generates decomposition result；
Detection unit, for processing the decomposition result that the quadrature demodulation unit is generated, and obtains image envelope information；
Image envelope processing unit, for carrying out logarithmic compression and image procossing to described image envelope information, and generates black and white
View data.
5. ultrasonic intracranial blood flow detection system according to claim 3, it is characterised in that Color signal processing
Module includes：
Quadrature demodulation unit, for the composite signal to be decomposed, and generates decomposition result；
Wall filtering unit, for the decomposition result that the quadrature demodulation unit is generated to be carried out into wall filtering process, and at generation
Reason result；
Blood flow parameter acquiring unit, for the result generated according to wall filtering unit blood flow parameter is obtained；
Blood flow post-processing unit, for processing the blood flow parameter, and generates color blood-stream image data.
6. ultrasonic intracranial blood flow detection system according to claim 3, it is characterised in that the PW signal processing submodule
Including：
Quadrature demodulation unit, for the composite signal to be decomposed, and generates decomposition result；
Range gating unit, for the decomposition result that the quadrature demodulation unit is generated to be carried out into range gating, and generate away from
From strobed result；
Wall filtering unit for carrying out wall filtering process and raw by the range gating result that the range gating unit is generated
Into result；
Power spectrum acquiring unit, for obtaining the power spectrum of the result that the wall filtering unit is generated；
How general spectrum compression unit, for being compressed process to the power spectrum acquired in the power spectrum acquiring unit, and generate
Strangle frequency spectrum data.
7. ultrasonic intracranial blood flow detection system according to claim 3, it is characterised in that the PW signal processing submodule
Including：
Quadrature demodulation unit, for the composite signal to be decomposed, and generates decomposition result；
Range gating unit, for the decomposition result that the quadrature demodulation unit is generated to be carried out into range gating, and generate away from
From strobed result；
Wall filtering unit for carrying out wall filtering process and raw by the range gating result that the range gating unit is generated
Into result；
Power spectrum acquiring unit, for obtaining the power spectrum of the result that the wall filtering unit is generated；
Spectrum compression unit, for being compressed process to the power spectrum acquired in the power spectrum acquiring unit, and generates process
As a result；
Spectrum envelope detector unit, for being analyzed to the result that the spectrum compression unit is generated, and generates Doppler
Frequency spectrum data.
8. ultrasonic intracranial blood flow detection system according to claim 3, it is characterised in that the PW signal processing submodule
Including：
Quadrature demodulation unit, for the composite signal to be decomposed, and generates decomposition result；
Range gating unit, for the decomposition result that the quadrature demodulation unit is generated to be carried out into range gating, and generate away from
From strobed result；
Wall filtering unit for carrying out wall filtering process and raw by the range gating result that the range gating unit is generated
Into result；
Sound processing unit, for the result that the wall filtering processing unit is generated to be processed, and obtains sound number
According to；
D/A modules, for carrying out conversion process to the voice data, and obtain conversion process result；
Speaker, for receiving and plays the conversion process result of the D/A units.
9. ultrasonic intracranial blood flow detection system as claimed in any of claims 1 to 8, it is characterised in that the spy
Size and the skull of head agree with including：The size of the probe is agreed with the Foramen magnum of skull or Nie's window.
10. the method that the ultrasonic intracranial blood flow detection system described in a kind of employing claim 1 carries out ultrasonic intracranial blood flow detection,
Characterized in that, including：
Transmitting ultrasonic pulse；
The ultrasonic echo that the ultrasonic pulse is given birth to is received, and the ultrasonic echo is converted into into the signal of telecommunication；
The signal of telecommunication is amplified；
The signal of telecommunication after amplification is processed, composite signal is formed；
The composite signal is processed, and generates result；
The result for being generated is shown.
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| CN105476664B (en) * | 2016-01-13 | 2018-05-01 | 北京悦琦创通科技有限公司 | The method and apparatus for generating Doppler spectrum |
| CN107731293A (en) * | 2017-11-20 | 2018-02-23 | 深圳市贝斯曼精密仪器有限公司 | A kind of semi-automatic peripheral vascular detection operating system |
| CN108175439A (en) * | 2017-12-08 | 2018-06-19 | 西安交通大学 | Low frequency is through the special ultrasonic transducer of cranium and its application |
| CN109171807B (en) * | 2018-08-28 | 2021-09-28 | 深圳开立生物医疗科技股份有限公司 | Signal processing method and system of ultrasonic diagnostic equipment and ultrasonic diagnostic equipment |
| CN109984773A (en) * | 2019-03-26 | 2019-07-09 | 中国科学院苏州生物医学工程技术研究所 | Tiny blood vessels inspection and identifying system and method |
| CN116965849A (en) * | 2022-04-24 | 2023-10-31 | 武汉联影医疗科技有限公司 | Signal processing method, signal processing device, computer equipment, storage medium and ultrasonic instrument |
| CN116458925B (en) * | 2023-06-15 | 2023-09-01 | 山东百多安医疗器械股份有限公司 | Portable non-blind area multi-mode ultrasonic electrocardio system |
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