CN214511192U - Ultrasonic probe pressure detection device - Google Patents
Ultrasonic probe pressure detection device Download PDFInfo
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- CN214511192U CN214511192U CN202023125947.5U CN202023125947U CN214511192U CN 214511192 U CN214511192 U CN 214511192U CN 202023125947 U CN202023125947 U CN 202023125947U CN 214511192 U CN214511192 U CN 214511192U
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- 238000012545 processing Methods 0.000 claims abstract description 36
- 238000002604 ultrasonography Methods 0.000 claims description 14
- 238000009530 blood pressure measurement Methods 0.000 abstract description 11
- 238000003384 imaging method Methods 0.000 abstract description 8
- 210000001519 tissue Anatomy 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
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- 238000006243 chemical reaction Methods 0.000 description 2
- 238000009499 grossing Methods 0.000 description 2
- 238000012285 ultrasound imaging Methods 0.000 description 2
- 206010040830 Skin discomfort Diseases 0.000 description 1
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- 210000000577 adipose tissue Anatomy 0.000 description 1
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Abstract
The utility model discloses an ultrasonic probe pressure measurement, the device includes: the ultrasonic probe comprises an ultrasonic probe and a flexible surface mechanical sensor arranged outside the ultrasonic probe; the flexible surface mechanical sensor wraps the corner part of the ultrasonic probe; the flexible surface mechanical sensor is provided with a hollow-out part, and the hollow-out part corresponds to the ultrasonic emission part of the ultrasonic probe, so that the ultrasonic emission part is exposed. The utility model discloses an adopt flexible face mechanics sensor cover to establish around ultrasonic probe, can be comprehensive acquire the contact condition feedback of probe and tissue in real time, solved among the prior art, ultrasonic probe pressure measurement only used two or three mechanical sensor, can not fully react the atress condition of probe to in the course of the subsequent processing, can carry out more accurate full adjustment to the probe position, improve imaging quality and patient's comfort level.
Description
Technical Field
The utility model relates to an ultrasonic probe technical field especially relates to an ultrasonic probe pressure measurement.
Background
For a robotic-arm-based ultrasound scanning system, a depth camera is usually used to plan a scanning path of a probe, but due to some interference caused by the physical characteristics of the depth camera and other environments, such as small tissue movement and light interference, the scanning path derived from point cloud data cannot be constantly guaranteed to be completely matched with the tissue surface, thereby causing poor ultrasound imaging quality and patient discomfort. Therefore, the system can be provided with the pressure detection device on the probe to acquire the contact condition feedback of the probe and the tissue in real time, so that the position of the probe can be correspondingly adjusted in the subsequent treatment, and the imaging quality and the comfort of a patient are improved.
However, the pressure detection device of the ultrasonic probe used in the existing system only uses two or three mechanical sensors fixed on the ultrasonic probe, can only acquire force information of two or three points, and cannot comprehensively reflect the stress condition of the probe, and even cannot provide correct force signal feedback for the system under certain conditions (such as when the probe is in contact with the skin and the sensors are not in contact with the skin).
Thus, there is a need for improvements and enhancements in the art.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in, to the above-mentioned defect of prior art, provide an ultrasonic probe pressure measurement device, the ultrasonic probe pressure measurement device who aims at solving among the prior art has only used two or three mechanical sensor to fix to ultrasonic probe, can only gather the power information of two three points to the problem of the atress condition of reaction probe can not be comprehensive.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts as follows:
in a first aspect, the present invention provides an ultrasonic probe pressure detection apparatus, wherein the apparatus comprises: the ultrasonic probe comprises an ultrasonic probe and a flexible surface mechanical sensor arranged outside the ultrasonic probe; the flexible surface mechanical sensor wraps the corner part of the ultrasonic probe; the flexible surface mechanical sensor is provided with a hollow-out part, and the hollow-out part corresponds to the ultrasonic emission part of the ultrasonic probe, so that the ultrasonic emission part is exposed.
In one implementation, the apparatus further includes an analog-to-digital converter, where the analog-to-digital converter is connected to the flexible surface mechanical sensor and is configured to convert an analog signal acquired by the flexible surface mechanical sensor into a digital signal.
In one implementation manner, the apparatus further includes the image processing module, and the image processing module is connected to the analog-to-digital converter and configured to process a digital signal output by the analog-to-digital converter.
In one implementation, the flexible surface mechanical sensor is arranged in a cap shape, and the cap-shaped flexible surface mechanical sensor is sleeved on the ultrasonic probe.
In one implementation, the inner surface of the flexible surface mechanical sensor is attached to the outer surface of the ultrasonic probe.
In one implementation, the hollow portion is configured as a long strip.
Has the advantages that: the utility model provides an ultrasonic probe pressure measurement device establishes around ultrasonic probe through adopting flexible face mechanics sensor cover, can be comprehensive acquire the contact condition feedback of probe and tissue in real time, has solved among the prior art, and ultrasonic probe pressure measurement device has only used two or three mechanics sensor, can not fully react the atress condition of probe to in the follow-up processing, can carry out more accurate full adjustment to the probe position, improve imaging quality and patient's comfort level.
Drawings
Fig. 1 is an overall illustration diagram of an ultrasonic probe pressure detection apparatus provided in an embodiment of the present invention.
Fig. 2 is an exploded illustration of an ultrasonic probe pressure detection apparatus provided in an embodiment of the present invention.
Fig. 3 is a cross-sectional illustration of an ultrasonic probe pressure detection apparatus according to an embodiment of the present invention.
Fig. 4 is a front exemplary diagram of a detection of an ultrasonic probe pressure detection apparatus provided in an embodiment of the present invention.
Fig. 5 is a functional module schematic diagram of an ultrasonic probe pressure detection apparatus provided in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the following description of the present invention will refer to the accompanying drawings and illustrate embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
For a robotic-arm-based ultrasound scanning system, a depth camera is usually used to plan a scanning path of a probe, but due to some interference caused by the physical characteristics of the depth camera and other environments, such as small tissue movement and light interference, the scanning path derived from point cloud data cannot be constantly guaranteed to be completely matched with the tissue surface, thereby causing poor ultrasound imaging quality and patient discomfort. Therefore, the system can be provided with the pressure detection device on the probe to acquire the contact condition feedback of the probe and the tissue in real time, so that the position of the probe can be correspondingly adjusted in the subsequent treatment, and the imaging quality and the comfort of a patient are improved.
However, the pressure detection device of the ultrasonic probe used in the existing system only uses two or three mechanical sensors fixed on the ultrasonic probe, can only acquire force information of two or three points, and cannot comprehensively reflect the stress condition of the probe, and even cannot provide correct force signal feedback for the system under certain conditions (such as when the probe is in contact with the skin and the sensors are not in contact with the skin).
In order to solve the problems of the prior art, the present embodiment provides an ultrasonic probe pressure detection apparatus. The utility model discloses a flexible face mechanics sensor cover is established on ultrasonic probe to carry out the fretwork with the flexible face mechanics sensor that covers on ultrasonic probe's the supersound transmission portion, make and use the utility model discloses when carrying out ultrasonic testing, system automatic control flexible face mechanics sensor carries out comprehensive accurate collection and skin contact's pressure signal, and pressure signal converts the pressure map into through the algorithm processing of signal processing module, and transmits to arm mechanics feedback device, and arm mechanics feedback device carries out the ultrasonic testing to skin again according to the data automatic adjustment ultrasonic probe of transmission, makes the ultrasonic image quality that detects improve, has promoted patient's detection comfort level.
For example, in order to obtain a high-quality ultrasound image by using an ultrasound probe to detect skin, the detection posture of the ultrasound probe needs to be adjusted, but because a pressure detection device on the ultrasound probe in the prior art usually only uses two or three mechanical sensors and no mechanical sensor is arranged at the corner of the ultrasound probe, pressure information between the ultrasound probe and the skin collected by the mechanical sensors is limited, and the contact condition between the ultrasound probe and the skin cannot be comprehensively reflected, for example, when the ultrasound probe detects a key part of a human body, the edge of the ultrasound probe cannot be in contact with the skin, the corner of the human tissue cannot be completely covered, or the detected pressure information is disordered due to different human body fat, so that the posture of the ultrasound probe cannot be effectively adjusted, the imaging quality of the ultrasound image is poor, and accurate medical diagnosis cannot be performed, therefore, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, the utility model discloses a flexible surface mechanics sensor cover is established on ultrasonic probe, the edge also all covers completely, make flexible surface mechanics sensor can real-time comprehensive collection and skin contact's pressure signal, even the edge also can gather, and the flexible surface mechanics sensor that covers on ultrasonic emission portion of ultrasonic probe sets up the fretwork portion, make ultrasonic emission portion of ultrasonic probe not receive the influence of structural factor, and ultrasonic emission portion of prior art is covered by mechanics sensor completely, influenced imaging quality, ultrasonic emission portion of ultrasonic probe is when detecting the ultrasonic image, flexible surface mechanics sensor is also detecting the pressure of contacting with the skin, and transmit the pressure signal of gathering to the signal processing module of being connected with flexible surface mechanics sensor, as shown in fig. 5, the signal processing module outputs a pressure map after performing signal processing according to a preset program algorithm, and the mechanical arm mechanical feedback device performs adaptive adjustment on the ultrasonic probe according to the transmitted pressure map, so that the ultrasonic probe detects an ultrasonic image of the skin in an optimal posture, and compared with the ultrasonic image detected in the prior art, the detected ultrasonic image has very high quality and reliability, and the misdiagnosis rate is greatly reduced.
The present embodiment provides an ultrasonic probe pressure detecting apparatus, as shown in fig. 1, 2, 3, 4 and 5, including: an ultrasonic probe 30 and a flexible surface mechanical sensor 20 arranged outside the ultrasonic probe; wherein, the flexible surface mechanical sensor 20 covers the corner part of the ultrasonic probe 30; the flexible surface mechanical sensor 20 is provided with a hollow-out portion 40, and the hollow-out portion 40 corresponds to the ultrasonic emission portion 10 of the ultrasonic probe, so that the ultrasonic emission portion 10 is exposed.
Specifically, as shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the flexible surface mechanical sensor 20 may adopt Tekscan and be configured as a cap-shaped structure, and the content size and the edge structure are both designed by polishing according to the shape and size of the ultrasonic probe 30, so that the cap-shaped flexible surface mechanical sensor 20 can be smoothly sleeved on the ultrasonic probe 30 without resistance, the inner surface of the flexible surface mechanical sensor 20 can be closely attached to the outer surface of the ultrasonic probe 30, and the installation and removal are very convenient; the flexible surface mechanical sensor 20 covers the ultrasonic probe 30, including the corner part of the ultrasonic probe 30, but the flexible surface mechanical sensor 20 is sleeved on the ultrasonic emission part of the ultrasonic probe 30 and is provided with a hollow part 40, the hollow part 40 is arranged in a long strip shape, so that the ultrasonic emission part 10 is exposed without being shielded, according to the physical characteristics of ultrasonic waves, the ultrasonic emission part can collect the ultrasonic waves when the ultrasonic waves emitted by the ultrasonic emission part are detected through the long strip-shaped hollow part 10, the obtained returned signals are high in intensity and fixed in directivity, and the obtained ultrasonic returned signals can be processed into ultrasonic images conveniently; when using shown ultrasonic probe pressure measurement device to detect on human skin, ultrasonic probe 10 is used for gathering the ultrasonic image on human skin, flexible face mechanical sensor 20 is in when ultrasonic probe 30 gathers the image, the laminating of full aspect is on the human skin that ultrasonic probe 30 is located, because flexible face mechanical sensor 20 is the mechanics that adopts the flexible face type and detects the structure, and the higher authority adheres to intensive degree and is millimeter level's power information acquisition point, not only can not cause human skin's discomfort, moreover the pressure measurement of every point all distributes very evenly on the flexible face mechanical sensor 20, no matter how much of human skin fat, even corner position or human tissue corner, the pressure signal of collection is all very stable and clear.
The ultrasonic probe pressure detection device is further provided with a signal processing module, as shown in fig. 5, the signal processing module comprises an analog-to-digital converter and an image processing module, the signal processing module is used for processing the pressure signal acquired by the flexible surface mechanical sensor 20 and outputting a pressure map, and the mechanical arm mechanical feedback device can adjust the contact pressure of the ultrasonic probe 30 and the skin according to the pressure map, so that the quality of an ultrasonic image acquired by the ultrasonic probe on the skin is improved, and the comfort of a patient is improved.
In one implementation, the analog-to-digital converter is connected to the flexible surface mechanics sensor 20, and is configured to convert an analog signal acquired by the flexible surface mechanics sensor 20 into a digital signal. Specifically, the pressure signal acquired by the flexible surface mechanics sensor 20 is an analog signal, which is represented by the magnitude of voltage and cannot be recognized by the system, so the pressure information of the analog signal converted into a digital signal can be recognized and processed by the system, the system parameterizes the magnitude of the voltage of the analog signal, the magnitude of the voltage of the analog signal is divided into 10 levels, each level is represented by binary, finally the system converts the analog signal into the pressure information of the binary digital signal which can be recognized by the system and stores the pressure information in the form of a matrix array, the pressure information represents the stress condition of all acquisition points on the ultrasonic probe, and then the pressure information converted into the form of the digital signal is transmitted to the image processing module for further processing.
In one implementation, the image processing module is connected to the analog-to-digital converter and configured to process a digital signal output by the analog-to-digital converter. Specifically, after the system obtains the pressure information in the form of digital signals, the system can process the pressure information, and because the current pressure information is a binary digital signal and is in the form of a matrix array, the speed of processing the matrix data is much faster than that of processing the data in a common storage mode according to the physical characteristics of a computer, the processing can be completed immediately when the image processing is performed, a pressure map is output, and the contact pressure of the ultrasonic probe 30 and the skin can be adjusted by the mechanical arm mechanical feedback device according to the pressure map.
To sum up, the utility model provides an ultrasonic probe pressure measurement, the device establishes on ultrasonic probe through adopting flexible face mechanics sensor cover, and carry out the fretwork with the flexible face mechanics sensor that covers on ultrasonic probe's the supersound transmission portion, when carrying out ultrasonic testing, system automatic control flexible face mechanics sensor carries out comprehensive accurate collection and skin contact's pressure signal, pressure signal converts the pressure map into through signal processing module's algorithm processing, and transmit to arm mechanics feedback device, arm mechanics feedback device carries out the ultrasonic testing to skin again according to the data automatic adjustment ultrasonic probe of transmission, make the ultrasonic image quality who detects improve.
The embodiment also provides an ultrasonic probe pressure detection method, which is applied to the ultrasonic probe pressure detection device, and specifically, the method includes the following steps:
and S100, acquiring a pressure signal according to a flexible surface mechanical sensor coated outside the ultrasonic probe.
Firstly, when the utility model is applied, a user controls the ultrasonic probe to carry out ultrasonic detection on the skin of a human body, the ultrasonic probe is sleeved with a flexible surface mechanical sensor, when the device works, the ultrasonic probe is responsible for transmitting ultrasonic waves by using a transmitting part on the ultrasonic probe and detecting ultrasonic images through the hollow part of the flexible surface mechanical sensor, and the flexible surface mechanical sensor is tightly attached to the skin of a human body, the contact pressure is detected and pressure signals are collected on the skin in contact by force information collecting points with the density of millimeter level, because the force information collecting points on the flexible surface mechanical sensor are uniformly and densely distributed, the acquired pressure signal can reflect the state of the current ultrasonic probe acquiring the ultrasonic image on the human skin in real time, therefore, whether the detection posture of the ultrasonic probe is correct or not and whether the detection posture needs to be adjusted or not can be accurately judged.
And S200, converting the pressure signal into a digital signal through an analog-to-digital converter to obtain pressure information of each acquisition point on the ultrasonic probe.
After the pressure signal is acquired, the current pressure signal is an analog signal and cannot be identified by a system, so that the current pressure signal is transmitted to the analog-to-digital converter to be converted into a digital signal for identification, as shown in fig. 5, for convenience of image processing in the next step, the result output by the analog-to-digital converter is not only a binary digital signal, but also the digital signal represents the pressure information of the digital signal of each acquisition point on the ultrasonic probe by representing the pressure information of each acquisition point on the ultrasonic probe in a parameter normalization form, and the computer operates fastest when processing matrix array data due to the physical characteristics of the computer, so that the pressure information of the digital signal of each acquisition point on the ultrasonic probe is obtained.
And step S300, adjusting the ultrasonic probe according to the pressure information.
After the system obtains the pressure information, the pressure information needs to be converted into a pressure map, then the stress condition of the current ultrasonic probe and each part of the skin of the human body can be clearly known according to the pressure map, the ultrasonic probe can be controlled to carry out adaptive posture adjustment according to the stress condition, and the quality of an ultrasonic image detected by the ultrasonic probe can be greatly improved after the posture is adjusted.
In one implementation, the step S300 specifically includes the following steps:
s301, obtaining the pressure map according to the pressure information;
s302, outputting the pressure map to a mechanical arm mechanical feedback device connected with the ultrasonic probe so as to adjust the ultrasonic probe according to the pressure map.
In the image processing module, the system firstly acquires three-dimensional coordinates of each acquisition point on the ultrasonic probe under a preset right-hand coordinate system, specifically, a rectangular coordinate system is established by taking the central point of the ultrasonic probe as the origin and the transmitting direction of the ultrasonic probe as the z-axis and the contact surface of the ultrasonic probe and the skin, the rectangular coordinate system and the z-axis are fused into a three-dimensional coordinate system according to the right-hand rule, each acquisition point on the ultrasonic probe sleeved with the flexible surface mechanics sensor in the three-dimensional coordinate system has own three-dimensional coordinates, and the system acquires and stores the three-dimensional coordinate information.
For example, in order to regulate and control the stress condition of the ultrasonic probe, a specific stress point needs to be positioned, and the mechanical arm mechanical feedback device can control the ultrasonic probe to move according to specific coordinates, so that the adjustment is faster and more accurate. Firstly, selecting the central point of an ultrasonic probe as an original point, setting the transmitting direction of an ultrasonic transmitting part of the ultrasonic probe as the positive direction of a z axis, selecting a millimeter left as a minimum unit in order to enable the adjustment to be more fine and reduce errors, establishing a right-hand coordinate system according to a right-hand rule, and calculating the three-dimensional coordinates of each acquisition point on the ultrasonic probe sleeved with the flexible surface mechanical sensor under the coordinate system by the system every 0.1 second.
And then, the system obtains the pressure map according to the pressure information of each acquisition point and the corresponding three-dimensional coordinates thereof, wherein the pressure map is used for displaying the stress conditions of all the acquisition points on the ultrasonic probe, and the pressure map can display physical data which indicate the stress conditions, such as the coordinates of the pressure, the pressure magnitude, the pressure direction, the distribution area of the maximum pressure and the minimum pressure, and the like.
Finally, after obtaining the pressure map, the system uses a least square moving algorithm to carry out smoothing processing on the pressure map, specifically, the system uses the least square moving algorithm to carry out smoothing processing on data displayed on the pressure map, integrates the data to obtain a linear regression equation, further reduces errors of the data, eliminates data errors caused by unpredictable faults in the system, and retains effective reliable data, thereby more accurately obtaining the stress condition of skin contacted with the ultrasonic probe; the image processing module outputs and transmits the processed pressure map to the mechanical arm mechanical feedback device to adjust the ultrasonic probe according to the pressure map, specifically, the mechanical arm mechanical feedback device classifies data displayed on the pressure map, inputs the data into a mechanical arm mechanical feedback device system, calculates and controls by adopting a closed negative feedback adjustment algorithm, controls the ultrasonic probe to move in the established three-dimensional coordinate system according to the step length of 1 mm, so that the detected user can not have uncomfortable reactions when the ultrasonic probe is self-adjusted, and simultaneously, because the precision of the coordinate system is higher, the ultrasonic probe can be controlled to move to a specified spatial position quickly, the whole control process is quick and accurate, because the detected pressure signal is detected in real time, once the local area pressure is abnormal, the ultrasonic probe can be quickly adjusted in real time, so that the ultrasonic probe can always keep the best posture to detect an ultrasonic image, the imaging quality is greatly improved, and the comfort level of a patient is improved.
Other exemplary methods have been set forth in the exemplary apparatus and will not be repeated here.
To sum up, the utility model discloses an ultrasonic probe pressure measurement, the device includes: the ultrasonic probe comprises an ultrasonic probe and a flexible surface mechanical sensor arranged outside the ultrasonic probe; the flexible surface mechanical sensor wraps the corner part of the ultrasonic probe; the flexible surface mechanical sensor is provided with a hollow-out part, and the hollow-out part corresponds to the ultrasonic emission part of the ultrasonic probe, so that the ultrasonic emission part is exposed. The utility model discloses an adopt flexible face mechanics sensor cover to establish on ultrasonic probe, the edge also all covers completely, make flexible face mechanics sensor can real-time comprehensive collection and skin contact's pressure signal, even the edge also can gather, and the flexible face mechanics sensor that covers sets up fretwork portion on ultrasonic probe's ultrasonic emission portion, make ultrasonic probe's ultrasonic emission position can not receive the influence of construction factor formation of image quality, ultrasonic probe's ultrasonic emission portion is when detecting the ultrasonic image, flexible face mechanics sensor is also detecting the pressure with skin contact, and transmit the pressure signal who gathers to the signal processing module who is connected with flexible face mechanics sensor, signal processing module contains analog-to-digital converter and image processing module, analog-to-digital converter and image processing module are handled the pressure signal that receives according to the procedure algorithm of predetermineeing in proper order, the pressure map is output after processing, the mechanical arm mechanical feedback device carries out self-adaptive adjustment on the ultrasonic probe according to the transmitted pressure map, so that the ultrasonic probe detects an ultrasonic image of the skin in the optimal posture, the quality and reliability of the detected ultrasonic image are very high compared with those of ultrasonic images detected in the prior art, the imaging quality is improved, the comfort level of a patient is improved, and the misdiagnosis rate is greatly reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its responsive aspects.
Claims (6)
1. An ultrasonic probe pressure detection apparatus, the apparatus comprising: the ultrasonic probe comprises an ultrasonic probe and a flexible surface mechanical sensor arranged outside the ultrasonic probe; the flexible surface mechanical sensor wraps the corner part of the ultrasonic probe; the flexible surface mechanical sensor is provided with a hollow-out part, and the hollow-out part corresponds to the ultrasonic emission part of the ultrasonic probe, so that the ultrasonic emission part is exposed.
2. The ultrasound probe pressure detection apparatus of claim 1, further comprising an analog-to-digital converter connected to the flexible surface mechanics sensor for converting analog signals collected by the flexible surface mechanics sensor into digital signals.
3. The apparatus according to claim 2, further comprising an image processing module, connected to the analog-to-digital converter, for processing the digital signal outputted from the analog-to-digital converter.
4. The ultrasonic probe pressure detecting device according to claim 1, wherein the flexible surface mechanical sensor is provided in a cap shape, and the cap-shaped flexible surface mechanical sensor is sleeved on the ultrasonic probe.
5. The ultrasonic probe pressure detection device of claim 4, wherein the flexible surface mechanical sensor inner surface is attached to the outer surface of the ultrasonic probe.
6. The ultrasonic probe pressure detecting device according to claim 1, wherein the hollowed-out portion is provided in a long strip shape.
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| CN202023125947.5U CN214511192U (en) | 2020-12-22 | 2020-12-22 | Ultrasonic probe pressure detection device |
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| CN202023125947.5U CN214511192U (en) | 2020-12-22 | 2020-12-22 | Ultrasonic probe pressure detection device |
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| CN214511192U true CN214511192U (en) | 2021-10-29 |
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Address after: 518000, 18th Floor, Building B, High tech Innovation Center, Guangqiao Road, Tianliao Community, Yutang Street, Guangming District, Shenzhen, Guangdong Province Patentee after: Shenzhen Delikai Medical Electronics Co.,Ltd. Address before: 6 / F, building 10, Guanlong Village Second Industrial Zone, Xili street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN DELICA MEDICAL EQUIPMENT Co.,Ltd. |
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