dcmqrscp: command not found

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On Debian possible default full paths are:

/usr/bin/dcmqrscp - from package: dcmtk

You may install the required package with command apt-get install {package}

Error in other languages:
dcmqrscp: bevel nie gevind nie
dcmqrscp: comandă negăsită
dcmqrscp: comando não encontrado
dcmqrscp: commande introuvable
dcmqrscp: command not found
dcmqrscp: käsku ei ole
dcmqrscp: không tìm thấy lệnh
dcmqrscp: komanda nerasta
dcmqrscp: Kommando nicht gefunden.
dcmqrscp: kommandot finns inte
dcmqrscp: komut yok
dcmqrscp: nie znaleziono polecenia
dcmqrscp: níor aimsíodh an t-ordú
dcmqrscp: no se encontró la orden
dcmqrscp: no s'ha trobat l'ordre
dcmqrscp: opdracht niet gevonden
dcmqrscp: parancs nem található
dcmqrscp: perintah tidak ditemukan
dcmqrscp: príkaz nenájdený
dcmqrscp: příkaz nenalezen
dcmqrscp: команда не найдена
dcmqrscp: командата не е открита
dcmqrscp: 命令找不到
dcmqrscp: コマンドが見つかりません