CN109621234B - Radiotherapy bed system with any curved surface - Google Patents
Radiotherapy bed system with any curved surface Download PDFInfo
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- CN109621234B CN109621234B CN201910001501.4A CN201910001501A CN109621234B CN 109621234 B CN109621234 B CN 109621234B CN 201910001501 A CN201910001501 A CN 201910001501A CN 109621234 B CN109621234 B CN 109621234B
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 19
- 238000004891 communication Methods 0.000 claims description 25
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 18
- 229910052742 iron Inorganic materials 0.000 claims description 9
- 230000001174 ascending effect Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000005855 radiation Effects 0.000 abstract description 7
- 230000000087 stabilizing effect Effects 0.000 abstract description 2
- 230000001988 toxicity Effects 0.000 abstract description 2
- 231100000419 toxicity Toxicity 0.000 abstract description 2
- 206010028980 Neoplasm Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
- A61N2005/1097—Means for immobilizing the patient
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Abstract
The invention discloses a radiotherapy bed system with any curved surface, which comprises upper computer software, a lower computer control system and a treatment bed body, wherein the treatment bed body is a three-dimensional motorized device formed by assembling a plurality of lifting motor modules, and after the combined control of the upper computer software and the lower computer control system, the top of the treatment bed body can deform to form any curved surface. The invention is used for adjusting and stabilizing the local pose of a subject in radiotherapy, and adjusting the pose with the highest irradiation efficiency and the minimum radiation toxicity to the normal tissues of a human body.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a radiotherapy bed system with any curved surface.
Background
Whether the treatment couch is accurately and stably arranged in a radiation treatment system or not has a crucial influence on the final radiation treatment effect, most of the support beds of the radiation treatment couch in the current market are of whole flat plate structures, six-degree-of-freedom control of the support beds moving randomly in a three-dimensional space is realized through various pneumatic devices or six-axis parallel mechanical structures, and the precision is good. Although most treatment beds can control the whole treatment bed to move randomly in a large or small three-dimensional space in cooperation with the ray irradiation gun, the common treatment bed is not sufficient particularly for adjusting the local pose of a patient and stably maintaining the pose of the patient when the treatment bed moves in the radiation treatment process. The invention designs a treatment bed system capable of generating any curved surface so as to add more fine adjustment on the local pose of the patient on the basis of the original six-degree-of-freedom treatment bed.
Disclosure of Invention
The invention aims to overcome the defects of the existing radiotherapy bed, provides a radiotherapy bed system with any curved surface, which can deform any curved surface according to different three-dimensional volume data, and is used for adjusting and stabilizing the local pose of a subject in radiotherapy, so that the pose with the highest irradiation efficiency and the lowest radiation toxicity to the normal tissues of a human body is adjusted.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: a radiotherapy bed system with any curved surface comprises upper computer software, a lower computer control system and a treatment bed body, wherein the treatment bed body is a three-dimensional motorized device formed by assembling a plurality of lifting motor modules, and after the combined control of the upper computer software and the lower computer control system, the top of the treatment bed body can deform to form any curved surface.
Further, the upper computer software has a graphical user interface, is convenient to operate and comprises the following functional modules:
the medical image three-dimensional reconstruction display module is used for reconstructing a single medical image slice with the same serial number into a three-dimensional graph, then extracting the surface of the three-dimensional graph and displaying the surface of the three-dimensional graph on a three-dimensional graph display window;
the stereo image pose adjusting module is used for adjusting the pose of the reconstructed stereo image in a stereo image display window, and the pose adjusting direction and mode comprise the following steps: translation of + -x axis, + -y axis, + -z axis and clockwise and anticlockwise rotation around any axis;
the motor module ascending path calculating module is used for calculating the distance from the geometric center of the flat top of each motor module in the virtual bed body plane in the three-dimensional graph display window to the surface of the three-dimensional graph and displaying the vertical line segment from the geometric center of the flat top of each motor module to the surface of the three-dimensional graph in the graph window;
the serial port communication module is used for sending the calculated distance data from the geometric center of the flat top of each motor module in the virtual bed body plane to the surface of the three-dimensional graph to a lower computer control system in a serial port communication mode;
the mouse is prompted and operated through a graphical user interface of the software, the software functions are sequentially performed, and then the medical image data can be displayed in a three-dimensional visual mode, the relevant data required by the deformation of the treatment bed body can be calculated and sent to a lower computer control system.
Furthermore, the lower computer control system is arranged below the treatment bed body and consists of a switching power supply module, a control circuit module, a linear power supply module and a motor driving circuit module; the switching power supply module can input 220V alternating current voltage and output 24V direct current voltage, and the 24V direct current voltage is respectively connected to the input end of the linear power supply module and a motor driving level pin of the motor driving circuit module to obtain 3.3V stable voltage for supplying power to the main control MCU, 5V stable voltage for supplying power to other chips in the circuit and 24V direct current voltage for driving the motor; considering that the number of the motors is large, and multiple paths of independent PWM wave signals are needed for independent control, the resource of one MCU is far insufficient; therefore, the control circuit module adopts a plurality of MCUs capable of outputting PWM waves with adjustable frequency to perform control operation and distinguishes the MCU of the master part and the MCU of the slave part, the MCU of the master part is simultaneously responsible for data communication with an upper computer at the PC end and serial port data communication between the MCU of the slave part, and the data communication content is mainly the movement distance of a slide block on each motor module required by bed body deformation; the slave MCU is only responsible for data communication with the master MCU and the slave MCU, the communication modes between the PC end upper computer and the master MCU and the slave MCU are serial port communication, and a multi-path PWM wave output channel of the MCU is connected to an input signal pin of a motor driving chip corresponding to each motor module, so that independent control of each motor module is realized; the motor driving circuit module is composed of a plurality of motor driving chips, each driving chip and a peripheral circuit thereof form a driving module of a motor module, the number of single driving modules is consistent with that of the motor modules, and in order to facilitate interface connection, the driving modules are intensively distributed under the motor modules, and a motor module is corresponding to the position right above each driving module.
Furthermore, the motor module comprises a stepping motor, a screw rod, a push rod, a slide block, a support block and a slide table with a linear guide rail, the slide table is vertically installed in the iron frame, the screw rod is installed on the slide table and is parallel to the linear guide rail, the slide block is sleeved on the screw rod, the screw rod is driven by the stepping motor to rotate so as to drive the slide block to slide up and down on the linear guide rail, the support block is connected with the slide block through the push rod, is positioned above the slide block and extends out of the top of the iron frame, and displacement change of the support block is realized under the drive of the slide block, so that the support blocks of all the motor modules of the treatment bed body can form a positioning curved surface required by accurate; the motor modules can complete 1-freedom high-precision linear motion, and in order to enable the treatment bed body to form any curved surface with the highest attaching degree, the motor modules are vertically and orderly arranged according to an m x n square matrix and are fixed on assembly holes reserved on the top surface inside the iron frame through screws; wherein m is the number of the motor modules on the longer side in the top view of the treatment bed body, and n is the number of the motor modules on the shorter side in the top view of the treatment bed body;
in the initial state, the movement distance of the sliding block on each motor module is 0mm, so that the whole bed body presents a plane, and after the upper computer software is adjusted and set and the distance of each motor module needing to move is calculated, the lower computer control system receives data and controls the sliding block of each motor module to ascend to the designated distance, and therefore the swing curved surface needed by accurate radiotherapy is formed.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the bed body fitting the curved surface of the body can fix the body position more stably, and the position deviation caused by shaking and shaking is not easy to occur.
2. The local pose can be adjusted, so that a more accurate positioning effect is achieved.
3. For tumors at the joint, the degree of flexion of the joint can be adjusted to maximize the exposure of the target tumor to the portal site.
Drawings
FIG. 1 is a flow chart of the operation of an arbitrary curved radiation treatment couch system.
Fig. 2 is a structural view of a linear motion motor module.
FIG. 3 is a view showing the internal structure of the bed.
Detailed Description
The present invention will be further described with reference to the following specific examples.
Referring to fig. 1 to 3, the radiotherapy bed system with any curved surface provided in this embodiment includes an upper computer software 1, a lower computer control system 2 and a treatment bed body 3, wherein the treatment bed body 3 is a three-dimensional motorized device assembled by a plurality of lifting motor modules 31, and after the combined control of the upper computer software 1 and the lower computer control system 2, the top of the treatment bed body 3 can be deformed into any curved surface.
The upper computer software 1 is provided with a graphical user interface, is convenient to operate and comprises the following functional modules:
the medical image three-dimensional reconstruction display module is used for reconstructing a single medical image slice with the same serial number into a three-dimensional graph, then extracting the surface of the three-dimensional graph and displaying the surface of the three-dimensional graph on a three-dimensional graph display window;
the stereo image pose adjusting module is used for adjusting the pose of the reconstructed stereo image in a stereo image display window, and the pose adjusting direction and mode comprise the following steps: translation of + -x axis, + -y axis, + -z axis and clockwise and anticlockwise rotation around any axis;
the motor module ascending path calculating module is used for calculating the distance from the geometric center of the flat top of each motor module in the virtual bed body plane in the three-dimensional graph display window to the surface of the three-dimensional graph and displaying the vertical line segment from the geometric center of the flat top of each motor module to the surface of the three-dimensional graph in the graph window;
and the serial port communication module is used for sending the calculated distance data from the geometric center of the flat top of each motor module in the plane of the virtual bed body to the surface of the three-dimensional graph to a lower computer control system in a serial port communication mode.
The mouse is prompted and operated through a graphical user interface of the software, the software functions are sequentially performed, and then the medical image data can be displayed in a three-dimensional visual mode, the relevant data required by the deformation of the treatment bed body can be calculated and sent to a lower computer control system.
The lower computer control system is arranged below the treatment bed body and consists of a switch power supply module (the specific power value is determined according to the number of the motor modules), a control circuit module, a linear power supply module and a motor driving circuit module; the switching power supply module can input 220V alternating current voltage and output 24V direct current voltage, and the 24V direct current voltage is respectively connected to the input end of the linear power supply module and a motor driving level pin of the motor driving circuit module to obtain 3.3V stable voltage for supplying power to the main control MCU, 5V stable voltage for supplying power to other chips in the circuit and 24V direct current voltage for driving the motor; considering that the number of the motors is large, and independent control is needed, multiple paths of independent PWM wave signals are needed, and the resource of one MCU is far insufficient; therefore, the control circuit module adopts a plurality of MCUs capable of outputting PWM waves with adjustable frequency to perform control operation and distinguishes the MCU of the master part and the MCU of the slave part, the MCU of the master part is simultaneously responsible for data communication with an upper computer at the PC end and serial port data communication between the MCU of the slave part, and the data communication content is mainly the movement distance of a slide block on each motor module required by bed body deformation; the slave MCU is only responsible for data communication with the master MCU and the slave MCU, the communication modes between the PC end upper computer and the master MCU and the slave MCU are serial port communication, and a multi-path PWM wave output channel of the MCU is connected to an input signal pin of a motor driving chip corresponding to each motor module, so that independent control of each motor module is realized; the motor driving circuit module is composed of a plurality of motor driving chips, each driving chip and a peripheral circuit thereof form a driving module of a motor module, the number of single driving modules is consistent with that of the motor modules, and in order to facilitate interface connection, the driving modules are intensively distributed under the motor modules, and a motor module is corresponding to the position right above each driving module.
The motor module 31 comprises a stepping motor 311, a screw 312, a push rod 313, a slider 314, a support block 315 and a sliding table 316 with a linear guide rail, wherein the sliding table 316 is vertically installed in the iron frame 32, the screw 312 is installed on the sliding table 316 and is parallel to the linear guide rail, the slider 314 is sleeved on the screw 312, the stepping motor 311 drives the screw 312 to rotate, so as to drive the slider 314 to slide up and down on the linear guide rail, the support block 315 is connected with the slider 314 through the push rod 313, is located above the slider 314 and extends out of the top of the iron frame 32, and displacement change of the support block 315 is realized under the drive of the slider 314, so that the support blocks 315 of all the motor modules 31 of the treatment bed body 3 can form a positioning curved surface required by accurate radiotherapy together; the motor modules can complete 1-degree-of-freedom high-precision (millimeter unit) linear motion, and for enabling the treatment bed body to form an optional curved surface with the highest attaching degree, a plurality of motor modules are vertically and orderly arranged according to a matrix of m x n (m is the number of the motor modules on the longer side in the top view (rectangle) of the treatment bed body, and n is the number of the motor modules on the shorter side in the top view (rectangle) of the treatment bed body), and the motor modules are fixed on assembly holes reserved on the top surface inside the iron frame through screws.
In the initial state, the movement distance of the sliding block on each motor module is 0mm, so that the whole bed body presents a plane, and after the upper computer software is adjusted and set and the distance of each motor module needing to move is calculated, the lower computer control system receives data and controls the sliding block of each motor module to ascend to the designated distance, and therefore the swing curved surface needed by accurate radiotherapy is formed.
The following is an operation method of the above-mentioned arbitrary curved surface radiation therapy bed system of this embodiment, specifically as follows:
operating a graphical user interface of upper computer software, acquiring medical image data, clicking a three-dimensional reconstruction function button, and performing three-dimensional reconstruction on the image; after the stereo image is well reconstructed and displayed on the graphic display window, operating a pose adjusting sliding bar to adjust the pose of the stereo image to be positioned right above the plane of the virtual bed body; then clicking a motor module ascending path calculation button to calculate the ascending distance of the sliding block of each motor module; and continuing to operate, clicking a serial port communication function button, and sending the calculated motion path data to a lower computer.
The lower computer control system outputs 24V direct current voltage after being connected with 220V alternating current voltage of mains supply, and the 24V direct current voltage is respectively connected with the input end of the linear power supply module and a motor driving level pin of the motor driving circuit to obtain 3.3V stable voltage for supplying power to the MCU, 5V stable voltage for supplying power to other chips in the circuit and 24V direct current voltage for driving the motor; after the power supply system is normal, the master MCU of the lower computer control system starts to receive data sent by the upper computer, after the data are received, the master MCU and the slave MCU distribute the data to the slave MCU, and the master MCU and the slave MCU respectively output multiple paths of independent PWM wave signals which are in one-to-one correspondence with each motor module to input signal pins of driving circuit chips in the plurality of driving circuit modules. So far, the interface left at the output level of each driving circuit module can generate a level for driving the stepping motor to normally rotate.
And finally, connecting an output port of the motor driving circuit with an input port of a motor module in the treatment bed body, after the upper computer software is adjusted and set and calculates the distance of each motor module required to move, receiving data and controlling a sliding block of each motor module to ascend to a specified distance by the lower computer, and forming a positioning curved surface required by accurate radiotherapy by a plane of the whole bed body in an initial state.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that variations based on the shape and principle of the present invention should be covered within the scope of the present invention.
Claims (3)
1. The utility model provides an arbitrary curved surface radiation therapy bed system, includes host computer software, lower computer control system and treatment bed body, its characterized in that: the treatment bed body is a three-dimensional mobile device formed by assembling a plurality of lifting motor modules, and after the combined control of upper computer software and a lower computer control system, the top of the treatment bed body can be deformed to form an arbitrary curved surface;
the upper computer software has a graphical user interface, is convenient to operate and comprises the following functional modules:
the medical image three-dimensional reconstruction display module is used for reconstructing a single medical image slice with the same serial number into a three-dimensional graph, then extracting the surface of the three-dimensional graph and displaying the surface of the three-dimensional graph on a three-dimensional graph display window;
the stereo image pose adjusting module is used for adjusting the pose of the reconstructed stereo image in a stereo image display window, and the pose adjusting direction and mode comprise the following steps: translation of + -x axis, + -y axis, + -z axis and clockwise and anticlockwise rotation around any axis;
the motor module ascending path calculating module is used for calculating the distance from the geometric center of the flat top of each motor module in the virtual bed body plane in the three-dimensional graph display window to the surface of the three-dimensional graph and displaying the vertical line segment from the geometric center of the flat top of each motor module to the surface of the three-dimensional graph in the graph window;
the serial port communication module is used for sending the calculated distance data from the geometric center of the flat top of each motor module in the virtual bed body plane to the surface of the three-dimensional graph to a lower computer control system in a serial port communication mode;
the mouse is prompted to operate through a graphical user interface of upper computer software, medical image data are displayed in a three-dimensional visual mode, relevant data required by deformation of the treatment bed body are calculated, and the data are sent to a lower computer control system.
2. The freeform radiation therapy bed system according to claim 1, wherein: the lower computer control system is arranged below the treatment bed body and consists of a switching power supply module, a control circuit module, a linear power supply module and a motor driving circuit module; the switching power supply module can input 220V alternating current voltage and output 24V direct current voltage, and the 24V direct current voltage is respectively connected to the input end of the linear power supply module and a motor driving level pin of the motor driving circuit module to obtain 3.3V stable voltage for supplying power to the main control MCU, 5V stable voltage for supplying power to other chips in the circuit and 24V direct current voltage for driving the motor; the motors are independently controlled by using multiple paths of independent PWM wave signals; the control circuit module adopts a plurality of MCUs capable of outputting PWM waves with adjustable frequency to perform control operation and distinguishes the MCU of the master part and the MCU of the slave part, the MCU of the master part is simultaneously responsible for data communication with an upper computer at the PC end and serial port data communication between the MCU of the slave part, and the data communication content comprises the movement distance of a slide block on each motor module required by bed body deformation; the slave MCU is only responsible for data communication with the master MCU and the slave MCU, the communication modes between the PC end upper computer and the master MCU and the slave MCU are serial port communication, and a multi-path PWM wave output channel of the MCU is connected to an input signal pin of a motor driving chip corresponding to each motor module, so that independent control of each motor module is realized; the motor driving circuit module is composed of a plurality of motor driving chips, each driving chip and a peripheral circuit thereof form a driving module of a motor module, the number of the driving modules is consistent with that of the motor modules, the driving modules are intensively distributed under the motor modules, and the position right above each driving module corresponds to one motor module, so that interface connection is facilitated.
3. The freeform radiation therapy bed system according to claim 1, wherein: the motor module comprises a stepping motor, a screw rod, a push rod, a sliding block, a supporting block and a sliding table with a linear guide rail, the sliding table is vertically installed in an iron frame, the screw rod is installed on the sliding table and is parallel to the linear guide rail, the sliding block is sleeved on the screw rod, the screw rod is driven by the stepping motor to rotate so as to drive the sliding block to slide up and down on the linear guide rail, the supporting block is connected with the sliding block through the push rod, is positioned above the sliding block and extends out of the top of the iron frame, and displacement change of the supporting block is realized under the driving of the sliding block, so that the supporting blocks of all the motor modules of the treatment bed body can form a positioning curved surface required by; the motor modules can complete high-precision linear motion with 1 degree of freedom, and a plurality of motor modules are vertically and orderly arranged according to an m x n square matrix and are fixed on assembly holes reserved on the top surface inside the iron frame through screws; wherein m is the number of the motor modules on the longer side of the top view of the treatment bed body, and n is the number of the motor modules on the shorter side of the top view of the treatment bed body, so that the treatment bed body forms an arbitrary curved surface with the highest attaching degree;
in the initial state, the movement distance of the sliding block on each motor module is 0mm, so that the whole bed body presents a plane, and after the upper computer software is adjusted and set and the distance of each motor module needing to move is calculated, the lower computer control system receives data and controls the sliding block of each motor module to ascend to the designated distance, and therefore the swing curved surface needed by accurate radiotherapy is formed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910001501.4A CN109621234B (en) | 2019-01-02 | 2019-01-02 | Radiotherapy bed system with any curved surface |
| PCT/CN2019/112874 WO2020140563A1 (en) | 2019-01-02 | 2019-10-23 | Arbitrary surface radiotherapy bed system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910001501.4A CN109621234B (en) | 2019-01-02 | 2019-01-02 | Radiotherapy bed system with any curved surface |
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| CN109621234A CN109621234A (en) | 2019-04-16 |
| CN109621234B true CN109621234B (en) | 2020-11-24 |
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| CN109621234B (en) * | 2019-01-02 | 2020-11-24 | 华南理工大学 | Radiotherapy bed system with any curved surface |
| CN112972904B (en) * | 2021-02-22 | 2022-06-07 | 四川大学华西医院 | Modular LED light power therapeutic instrument |
| CN113995966B (en) * | 2021-12-14 | 2023-12-01 | 洛阳新区人民医院 | Comfortable and easy-to-position dermatological laser treatment matching device for pediatrics and use method |
| CN115364391B (en) * | 2022-10-21 | 2023-01-24 | 四川省中能医疗科技发展有限公司 | SBRT radiotherapy body position fixing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6138302A (en) * | 1998-11-10 | 2000-10-31 | University Of Pittsburgh Of The Commonwealth System Of Higher Education | Apparatus and method for positioning patient |
| CN1669599A (en) * | 2004-03-16 | 2005-09-21 | 上海英迈吉东影图像设备有限公司 | Dose planning method for three-dimensional shape adapting radiation therapy |
| CN100586507C (en) * | 2004-07-23 | 2010-02-03 | 吴大可 | Integrated system for three dimensional conformable short distance radiotherapy |
| CN101862205A (en) * | 2010-05-25 | 2010-10-20 | 中国人民解放军第四军医大学 | Intraoperative tissue tracking method combined with preoperative image |
| CN104173073B (en) * | 2013-11-19 | 2015-09-30 | 上海联影医疗科技有限公司 | A kind of method of three-dimensional localization |
| CN206120967U (en) * | 2016-07-07 | 2017-04-26 | 广州医科大学附属肿瘤医院 | Movable special radiotherapy fixing device of posture adjustable radiotherapy branch of academic or vocational study doctor that couches |
| WO2018023344A1 (en) * | 2016-08-01 | 2018-02-08 | 深圳市奥沃医学新技术发展有限公司 | Radiation therapy apparatus and beam imaging method |
| CN106178288B (en) * | 2016-08-09 | 2019-07-23 | 山东大学齐鲁医院 | A kind of U-shaped beam three-dimensional running fix bed suitable for radiotherapy |
| CN108853753B (en) * | 2016-09-30 | 2022-02-18 | 上海联影医疗科技股份有限公司 | Tumor real-time monitoring device and radiotherapy system |
| CN108159575A (en) * | 2016-12-07 | 2018-06-15 | 上海东软医疗科技有限公司 | Method, system and the figure memory mattress of auxiliary pendulum position |
| CN106964076A (en) * | 2017-03-06 | 2017-07-21 | 广州医科大学附属肿瘤医院 | A kind of radiotherapy body position fixing device preparation method and system based on 3-D scanning |
| CN109621234B (en) * | 2019-01-02 | 2020-11-24 | 华南理工大学 | Radiotherapy bed system with any curved surface |
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2019
- 2019-01-02 CN CN201910001501.4A patent/CN109621234B/en not_active Expired - Fee Related
- 2019-10-23 WO PCT/CN2019/112874 patent/WO2020140563A1/en active Application Filing
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| WO2020140563A1 (en) | 2020-07-09 |
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