CN105832362A - Multi-freedom-degree cone-beam CT imaging system - Google Patents
Multi-freedom-degree cone-beam CT imaging system Download PDFInfo
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- CN105832362A CN105832362A CN201610150249.XA CN201610150249A CN105832362A CN 105832362 A CN105832362 A CN 105832362A CN 201610150249 A CN201610150249 A CN 201610150249A CN 105832362 A CN105832362 A CN 105832362A
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- 238000013170 computed tomography imaging Methods 0.000 title claims abstract description 26
- 230000008878 coupling Effects 0.000 claims description 20
- 238000010168 coupling process Methods 0.000 claims description 20
- 238000005859 coupling reaction Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 abstract description 8
- 206010028980 Neoplasm Diseases 0.000 abstract description 4
- 238000001959 radiotherapy Methods 0.000 abstract description 4
- 238000003745 diagnosis Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000012216 screening Methods 0.000 abstract 1
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000020816 lung neoplasm Diseases 0.000 description 1
- 208000037841 lung tumor Diseases 0.000 description 1
- 208000018389 neoplasm of cerebral hemisphere Diseases 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
- A61B6/035—Mechanical aspects of CT
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
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Abstract
The invention discloses a multi-freedom-degree cone-beam CT imaging system in the technical field of CT imaging. The multi-freedom-degree cone-beam CT imaging system comprises a six-axis mechanical arm, a C-shaped bracket with a translation device, a flat panel detector bracket with two translation devices and a rotation device, and an X-ray light source, wherein the tail end of the six-axis mechanical arm is connected with the C-shaped bracket, and two ends of the C-shaped bracket are respectively connected with the flat panel detector bracket and the X-ray light source, respectively. The system provided by the invention has high flexibility and can realize multiple scanning modes including the axial scanning, spiral scanning and non-coplanar scanning of the cone-beam CT, the imaging geometrical parameters can be adjusted on line in real time, the scanning method is flexible, the scanning range is wide, the imaging parameters are adjustable, and the multi-freedom-degree cone-beam CT imaging system can be applied to the occasions including the accurate navigation during the operation, the self-adaptive radiotherapy and the early-stage tumor screening and diagnosis.
Description
Technical field
The present invention relates to the device of a kind of technical field of medical instruments, specifically a kind of multiple degrees of freedom cone-beam
CT imaging system.
Background technology
The X-ray Cone-Beam CT being arranged on treatment bedside is the important realization rate that current image guides.Cone at present
Beam CT system scanning track is limited, the most only carries out circular trace single sweep operation, and therefore longitudinal space covers low,
Typically about 15cm, also cannot realize non-co-planar scanning strategy.Longitudinally covered rate is low causes H/N tumors to be controlled
" stepping exposure " pattern can be used during treatment, translate sick bed after i.e. completing a Circular test scanning individual to next
Position, then carry out single pass to cover whole head and neck position.The radiation dose that so can double, and follow-up
Image mosaic merges the most troublesome.And lack non-co-planar scan capability and Cone-Beam CT is difficult at stereoscopic localized put
Carry out image guiding during shooter's art (such as the cerebral tumor and the three-dimensional radiotherapy of lung tumor), reduce therapeutic effect.
Multiple degrees of freedom cone-beam CT imaging system solves the restriction of current cone-beam CT imaging system limited scanning track, makes cone
Precisely navigation and adaptive radiation therapy in bundle CT Rhizoma Atractylodis Macrocephalae, and infantile tumour examination and diagnosis.
Summary of the invention
The present invention is directed to deficiencies of the prior art, it is provided that a kind of multiple degrees of freedom cone-beam CT imaging system,
Solve the cone-beam CT imaging system scanning limited problem of track, have that scan mode is flexible, sweep limits extensively,
The features such as imaging parameters is adjustable, guide as precisely navigated and adaptive radiation therapy in art for high-end medical image
And infantile tumour examination has important using value with diagnosis etc..
The present invention is achieved by the following technical solutions: a kind of multiple degrees of freedom cone-beam CT imaging system, including:
Six shaft mechanical arms, the C-shaped support with translating device, the flat board with double flat moving device and rotary apparatus detect
Device support and X-ray source, wherein: six shaft mechanical arm ends are connected with C-shaped support, and C-shaped support two ends are divided
It is not connected with flat panel detector support and X-ray source.
Further, six described shaft mechanical arms can realize space six-freedom motion.
Further, described C-shaped support includes: support seat, flat panel detector support arm, X-ray source
Support arm and translating device, wherein: flat panel detector support arm is fixed on support seat one end, and X-ray source is propped up
The support seat other end is fixed in brace, and translating device is arranged at the same one end of flat panel detector support arm.
Further, described support seat and the fixing connection of six shaft mechanical arm ends.
Further, described support seat is hollow-core construction, and translating device is arranged at inside support seat.
Further, described translating device includes: motor one, shaft coupling one, leading screw one, nut one, lead
Rail one, slide block one and connector, wherein: motor one is fixed on support seat, motor one, shaft coupling one, silk
Thick stick one is sequentially connected with, and nut one and leading screw one match, and connector is fixed on nut one, and detects with flat board
Device support arm is fixing to be connected, and guide rail one is fixed on support seat, and guide rail one is provided with slide block one, and slide block one is fixed
On flat panel detector support arm.
Further, described flat panel detector support includes: supporting back board, longitudinal translation device, laterally put down
Moving device, rotary apparatus and flat panel detector, wherein: longitudinal translation device is arranged at supporting back board both sides, horizontal
Being connected with longitudinal translation device to translating device, rotary apparatus is connected with transverse sliding device, and flat panel detector is solid
On rotary apparatus.
Further, described supporting back board is fixing with flat panel detector support arm to be connected.
Further, described longitudinal translation device includes: motor two, shaft coupling two, gear one, tooth bar one,
Guide rail two, slide block two and support stringer, wherein: motor two is fixed on support stringer, motor two, shaft coupling
Two, gear one is sequentially connected with, and tooth bar one and gear one match, and tooth bar one is fixed in supporting back board, guide rail
Two are fixed on support stringer, and guide rail two is provided with slide block two, and slide block two is fixed on supporting back board side.
Further, described transverse sliding device includes: motor three, shaft coupling three, V belt translation parts, tooth
Wheel two, tooth bar two, guide rail three, slide block three and support crossbeam, wherein: motor three is fixed on support stringer,
Motor three, shaft coupling three, belt wheel transmission parts, gear two are sequentially connected with, and tooth bar two and gear two match,
Tooth bar two is fixed on support crossbeam, and guide rail three is fixed on support crossbeam, and guide rail three is provided with slide block three, sliding
Block three is fixed on support stringer.
Further, described rotary apparatus includes: base plate, rotating driving device and rotation platform, wherein:
Base plate is fixed on support crossbeam, and rotating driving device is fixed on base plate, rotation platform and rotating driving device
Connect.
Further, described flat panel detector is fixing with rotation platform to be connected.
This device operation principle is as follows:
Six shaft mechanical arms have the ability of space six-freedom motion, and its end carries C-shaped support, flat board detection
Device support and X-ray source, can realize rotatably mounted around three coordinate axess of flat panel detector and X-ray source
Degree and the one-movement-freedom-degree along three change in coordinate axis direction.Wherein, the rotary motion around sick bed horizontal longitudinal axis can be used for
Axle scans；Rotary motion around sick bed horizontal cross shaft can be used for non-co-planar scanning；Translation along sick bed horizontal longitudinal axis
Motion can be used for selecting scanning position and helical scanning；Translational motion along sick bed horizontal cross shaft can be used for adjusting
Scanning center region；Translational motion along vertical axes can be used for adjusting sick bed position in imaging region.
The translating device of C-shaped support drives leading screw one to do forward and reverse continuous rotation, to realize nut by motor one
One and flat panel detector support arm, flat panel detector support along the linear reciprocating motion of guide rail one, thus can adjust
Screed detector is to the distance of X-ray source.The longitudinal translation device of flat panel detector support passes through motor two
Driven gear one does forward and reverse continuous motion, to realize support stringer relative to reciprocal along guide rail two of supporting back board
Linear motion, thus can adjust the lengthwise position of flat panel detector projection centre.The horizontal stroke of flat panel detector support
Forward and reverse continuous motion is done by motor three driven gear two, to realize supporting crossbeam relative to propping up to translating device
Support longeron, along the linear reciprocating motion of guide rail three, thus can adjust the lateral attitude of flat panel detector projection centre.
The rotating driving device of flat panel detector support is rotated platform and does forward and reverse continuous rotation, to realize flat board spy
Survey the rotation in device imaging plane, thus can adjust the deflection angle between flat panel detector and the sick bed longitudinal axis.
The present invention can realize multiple cone-beam CT imaging pattern: cone-beam CT imaging device (flat panel detector and X
Ray source) around sick bed horizontal longitudinal axis rotary motion, it is achieved 360 degree of axle scannings；Cone-beam CT imaging device around
Sick bed horizontal longitudinal axis rotary motion, simultaneously along sick bed horizontal longitudinal axis translational motion, it is achieved 360 degree of helical scannings；
Cone-beam CT imaging device rotates to an angle around sick bed horizontal cross shaft, further around sick bed horizontal longitudinal axis rotary motion,
Simultaneously along sick bed horizontal longitudinal axis translational motion, it is achieved non-co-planar scans.
Adjustable of the present invention multinomial cone-beam CT imaging parameter: the position of imaging center of rotation；Imaging object is being swept
Retouch the position in region；Distance between flat panel detector and X-ray source；Flat panel detector projection centre
Lengthwise position；The lateral attitude of flat panel detector projection centre.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment 1.
Fig. 2 is the structural representation of C-shaped support, and (a) is sectional view, and (b) is side view.
Fig. 3 is the structural representation of C-shaped support translating device, and (a) is front view, and (b) is side view.
Fig. 4, Fig. 5 and Fig. 6 are the structural representation of flat panel detector support.
In figure: 1 six shaft mechanical arms, 2C type support, 3 flat panel detector support, 4X ray source, 5
Support seat, 6 flat panel detector support arms, 7X ray source support arm, 8 translating devices, 9 motors one, 10
Axial organ one, 11 leading screw one, 12 nut one, 13 guide rail one, 14 slide block one, 15 connector, 16 supports
Backboard, 17 longitudinal translation devices, 18 transverse sliding devices, 19 rotary apparatuss, 20 flat panel detectors, 21
Motor two, 22 shaft coupling two, 23 gear one, 24 tooth bar one, 25 guide rail two, 26 slide block two, 27
Support longeron, 28 motor three, 29 shaft coupling three, 30 V belt translation parts, 31 gear two, 32 tooth bars two,
33 guide rail three, 34 slide blocks three, 35 support crossbeam, 36 base plates, 37 rotating driving devices, 38 rotary flats
Platform.
Detailed description of the invention
Elaborating embodiments of the invention below in conjunction with accompanying drawing, the present embodiment is with technical solution of the present invention
Implement under premised on, give detailed embodiment and concrete operating process, but the protection of the present invention
Scope is not limited to following embodiment.
Embodiment 1
As it is shown in figure 1, this example includes: six shaft mechanical arms 1, the C-shaped support 2 with translating device, band
There are flat panel detector support 3 and the X-ray source 4 of double flat moving device and rotary apparatus, wherein: six shaft mechanicals
Arm 1 end is connected with C-shaped support 2, C-shaped support 2 two ends respectively with flat panel detector support 3 and X-ray
Light source 4 connects.
Six described shaft mechanical arms 1 can realize space six-freedom motion.
As in figure 2 it is shown, described C-shaped support 2 includes: support seat 5, flat panel detector support arm 6, X
Ray source support arm 7 and translating device 8, wherein: flat panel detector support arm 6 is fixed on support seat 5 one
End, X-ray source support arm 7 is fixed on support seat 5 other end, and translating device 8 is arranged at flat panel detector
The same one end of support arm 6.
Described support seat 5 is fixing with six shaft mechanical arm 1 ends to be connected.
Described support seat 5 is hollow-core construction, and it is internal that translating device 8 is arranged at support seat 5.
As it is shown on figure 3, described translating device 8 includes: motor 1, shaft coupling 1, leading screw 1,
Nut 1, guide rail 1, slide block 1 and connector 15, wherein: motor 1 is fixed on support seat 5
On, motor 1, shaft coupling 1, leading screw 1 are sequentially connected with, and nut 1 and leading screw 1 match
Closing, connector 15 is fixed on nut 1, and fixing with flat panel detector support arm 6 is connected, guide rail one
13 are fixed on support seat 5, and guide rail 1 is provided with slide block 1, and slide block 1 is fixed on flat board detection
On device support arm 6.
As shown in Figure 4, described flat panel detector support 3 includes: supporting back board 16, longitudinal translation device
17, transverse sliding device 18, rotary apparatus 19 and flat panel detector 20, wherein: longitudinal translation device 17
Being arranged at supporting back board 16 both sides, transverse sliding device 18 is connected with longitudinal translation device 17, rotary apparatus
19 are connected with transverse sliding device 18, and flat panel detector 20 is fixed on rotary apparatus 19.
Described supporting back board 16 is fixing with flat panel detector support arm 6 to be connected.
As it is shown in figure 5, described longitudinal translation device 17 includes: motor 2 21, shaft coupling 2 22, gear
One 23, tooth bar 1, guide rail 2 25, slide block 2 26 and support stringer 27, wherein: motor 2 21 is fixed
On support stringer 27, motor 2 21, shaft coupling 2 22, gear 1 are sequentially connected with, tooth bar 1
Matching with gear 1, tooth bar 1 is fixed in supporting back board 16, and it is vertical that guide rail 2 25 is fixed on support
On beam 27, guide rail 2 25 is provided with slide block 2 26, and slide block 2 26 is fixed on supporting back board 16 side.
As shown in Figure 5,6, described transverse sliding device 18 includes: motor 3 28, shaft coupling 3 29,
V belt translation parts 30, gear 2 31, tooth bar 2 32, guide rail 3 33, slide block 3 34 and support crossbeam 35,
Wherein: motor 3 28 is fixed on support stringer 27, motor 3 28, shaft coupling 3 29, belt wheel transmission portion
Part 30, gear 2 31 are sequentially connected with, and tooth bar 2 32 and gear 2 31 match, and tooth bar 2 32 is fixed on
Supporting on crossbeam 35, guide rail 3 33 is fixed on support crossbeam 35, and guide rail 3 33 is provided with slide block 3 34,
Slide block 3 34 is fixed on support stringer 27.
As shown in Figure 6, described rotary apparatus 19 includes: base plate 36, rotating driving device 37 and rotation
Platform 38, wherein: base plate 36 is fixed on support crossbeam 35, and rotating driving device 37 is fixed on base plate 36
On, rotation platform 38 is connected with rotating driving device 37.
Described flat panel detector 20 is fixing with rotation platform 38 to be connected.
This device work process is as follows:
Six shaft mechanical arms 1 have the ability of space six-freedom motion, and its end carries C-shaped support 2, flat board
Detector carriage 3 and X-ray source 4, can realize flat panel detector 20 and X-ray source 4 around three seats
The rotational freedom of parameter and the one-movement-freedom-degree along three change in coordinate axis direction.Wherein, around sick bed horizontal longitudinal axis
Rotary motion can be used for axle scanning；Rotary motion around sick bed horizontal cross shaft can be used for non-co-planar scanning；Along sick bed
The translational motion of horizontal longitudinal axis can be used for selecting scanning position and helical scanning；Translation along sick bed horizontal cross shaft
Motion can be used for adjusting scanning center region；Translational motion along vertical axes can be used for adjusting sick bed at imaging region
In position.
The translating device 8 of C-shaped support 2 drives leading screw 1 to do forward and reverse continuous rotation by motor 1,
Reciprocal along guide rail 1 to realize nut 1 and flat panel detector support arm 6, flat panel detector support 3
Linear motion, thus can adjust the flat panel detector 20 distance to X-ray source 4.Flat panel detector props up
The longitudinal translation device 17 of frame 3 does forward and reverse continuous motion, with reality by motor 2 21 driven gear 1
Existing support stringer 27, thus can adjust along the linear reciprocating motion of guide rail 2 25 relative to supporting back board 16
The lengthwise position of flat panel detector 20 projection centre.The transverse sliding device 18 of flat panel detector support 3 passes through
Motor 3 28 driven gear 2 31 does forward and reverse continuous motion, vertical relative to supporting to realize support crossbeam 35
Beam 27, along the linear reciprocating motion of guide rail 3 33, thus can adjust the horizontal stroke of flat panel detector 20 projection centre
To position.The rotating driving device 37 of flat panel detector support 3 is rotated platform 38 and does forward and reverse continuous turn
Dynamic, to realize the rotation in flat panel detector 20 imaging plane, flat panel detector 20 thus can be adjusted with sick
Deflection angle between the bed longitudinal axis.
Claims (9)
1. a multiple degrees of freedom cone-beam CT imaging system, it is characterised in that including: six shaft mechanical arms, with translation
The C-shaped support of device, with double flat moving device and the flat panel detector support of rotary apparatus and X-ray source,
Wherein: six shaft mechanical arm ends are connected with C-shaped support, C-shaped support two ends respectively with flat panel detector support and
X-ray source connects.
Multiple degrees of freedom cone-beam CT imaging system the most according to claim 1, is characterized in that, six described axle machines
Mechanical arm can realize space six-freedom motion.
Multiple degrees of freedom cone-beam CT imaging system the most according to claim 1, is characterized in that, described c-type is propped up
Frame includes: support seat, flat panel detector support arm, X-ray source support arm and translating device, wherein: flat
Partitioned detector support arm is fixed on support seat one end, and X-ray source support arm is fixed on the support seat other end, flat
Moving device is arranged at the same one end of flat panel detector support arm；Support seat and the fixing connection of six shaft mechanical arm ends.
Multiple degrees of freedom cone-beam CT imaging system the most according to claim 3, is characterized in that, described support seat
For hollow-core construction, translating device is arranged at inside support seat.
Multiple degrees of freedom cone-beam CT imaging system the most according to claim 3, is characterized in that, described translation dress
Put and include: motor one, shaft coupling one, leading screw one, nut one, guide rail one, slide block one and connector, wherein:
Motor one is fixed on support seat, and motor one, shaft coupling one, leading screw one are sequentially connected with, nut one and leading screw one
Matching, connector is fixed on nut one, and fixing with flat panel detector support arm is connected, and guide rail one is fixing
In supporting on seat, guide rail one is provided with slide block one, and slide block one is fixed on flat panel detector support arm.
Multiple degrees of freedom cone-beam CT imaging system the most according to claim 1, is characterized in that, described flat board is visited
Survey device support to include: supporting back board, longitudinal translation device, transverse sliding device, rotary apparatus and flat board detection
Device, wherein: longitudinal translation device is arranged at supporting back board both sides, transverse sliding device is with longitudinal translation device even
Connecing, rotary apparatus is connected with transverse sliding device, and flat panel detector is fixed on rotary apparatus；Supporting back board with
Flat panel detector support arm is fixing to be connected.
Multiple degrees of freedom cone-beam CT imaging system the most according to claim 6, is characterized in that, described longitudinal direction is put down
Moving device includes: motor two, shaft coupling two, gear one, tooth bar one, guide rail two, slide block two and support stringer,
Wherein: motor two is fixed on support stringer, motor two, shaft coupling two, gear one are sequentially connected with, tooth bar one
Matching with gear one, tooth bar one is fixed in supporting back board, and guide rail two is fixed on support stringer, guide rail two
Being provided with slide block two, slide block two is fixed on supporting back board side.
Multiple degrees of freedom cone-beam CT imaging system the most according to claim 6, is characterized in that, described is the most flat
Moving device includes: motor three, shaft coupling three, V belt translation parts, gear two, tooth bar two, guide rail three, slide block
Three and support crossbeam, wherein: motor three is fixed on support stringer, motor three, shaft coupling three, belt wheel transmission
Parts, gear two are sequentially connected with, and tooth bar two and gear two match, and tooth bar two is fixed on support crossbeam, leads
Rail three is fixed on support crossbeam, and guide rail three is provided with slide block three, and slide block three is fixed on support stringer.
Multiple degrees of freedom cone-beam CT imaging system the most according to claim 6, is characterized in that, described rotation dress
Put and include: base plate, rotating driving device and rotation platform, wherein: base plate is fixed on support crossbeam, rotates
Driving means is fixed on base plate, and rotation platform is connected with rotating driving device；Flat panel detector and rotation platform
Fixing connection.
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| CN201610150249.XA CN105832362A (en) | 2016-03-16 | 2016-03-16 | Multi-freedom-degree cone-beam CT imaging system |
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| CN201610150249.XA CN105832362A (en) | 2016-03-16 | 2016-03-16 | Multi-freedom-degree cone-beam CT imaging system |
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| CN107498589A (en) * | 2017-07-31 | 2017-12-22 | 北京紫方启研科技有限公司 | Robot with radioscopy imaging function |
| CN107693035A (en) * | 2017-11-21 | 2018-02-16 | 南方医科大学 | A kind of x-ray imaging device and method that a variety of track scannings can be achieved |
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| CN109171788A (en) * | 2018-09-14 | 2019-01-11 | 合肥美亚光电技术股份有限公司 | Cone-beam CT-systems |
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| CN107498589A (en) * | 2017-07-31 | 2017-12-22 | 北京紫方启研科技有限公司 | Robot with radioscopy imaging function |
| CN107320126B (en) * | 2017-08-10 | 2023-09-15 | 湖北锐影科技有限公司 | PET imaging frame of variable structure |
| CN107320126A (en) * | 2017-08-10 | 2017-11-07 | 武汉瑞福宁科技有限公司 | A kind of PET imaging frames of varistructure |
| CN107693035A (en) * | 2017-11-21 | 2018-02-16 | 南方医科大学 | A kind of x-ray imaging device and method that a variety of track scannings can be achieved |
| CN110090032A (en) * | 2018-01-30 | 2019-08-06 | 邦盛医疗装备（天津）股份有限公司 | Radiation tomography device and control method |
| CN109091159A (en) * | 2018-07-06 | 2018-12-28 | 浙江大学 | Portable limbs joint cone-beam CT imaging system |
| CN109091159B (en) * | 2018-07-06 | 2023-10-27 | 浙江大学 | Portable limb joint cone beam CT imaging system |
| CN109171788A (en) * | 2018-09-14 | 2019-01-11 | 合肥美亚光电技术股份有限公司 | Cone-beam CT-systems |
| CN110811655A (en) * | 2019-11-21 | 2020-02-21 | 上海联影医疗科技有限公司 | C-shaped arm and X-ray machine |
| CN110811655B (en) * | 2019-11-21 | 2021-08-10 | 上海联影医疗科技股份有限公司 | C-shaped arm and X-ray machine |
| WO2022033522A1 (en) * | 2020-08-11 | 2022-02-17 | 上海联影医疗科技股份有限公司 | X-ray machine |
| CN111991014A (en) * | 2020-08-11 | 2020-11-27 | 上海联影医疗科技股份有限公司 | C-shaped arm and X-ray machine |
| CN116165149A (en) * | 2023-04-25 | 2023-05-26 | 天津市拓普仪器有限公司 | Ultraviolet visible near infrared spectrometer applied to laboratory |
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Application publication date: 20160810 |