CN119229719B - Prostate puncture simulator for image fusion guidance - Google Patents
Prostate puncture simulator for image fusion guidance Download PDFInfo
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- CN119229719B CN119229719B CN202411699148.9A CN202411699148A CN119229719B CN 119229719 B CN119229719 B CN 119229719B CN 202411699148 A CN202411699148 A CN 202411699148A CN 119229719 B CN119229719 B CN 119229719B
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- 210000002307 prostate Anatomy 0.000 title claims abstract description 107
- 230000004927 fusion Effects 0.000 title claims abstract description 21
- 238000004088 simulation Methods 0.000 claims abstract description 41
- 239000000696 magnetic material Substances 0.000 claims abstract description 5
- 230000008685 targeting Effects 0.000 claims description 9
- 239000000523 sample Substances 0.000 claims description 8
- 125000006850 spacer group Chemical group 0.000 claims description 6
- 238000009423 ventilation Methods 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 12
- 230000002349 favourable effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 206010060862 Prostate cancer Diseases 0.000 description 2
- 208000000236 Prostatic Neoplasms Diseases 0.000 description 2
- 238000001574 biopsy Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 208000017497 prostate disease Diseases 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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Abstract
本发明涉及穿刺实操模拟设备领域，尤其涉及用于影像融合引导前列腺穿刺模拟装置，包括穿刺实操模拟装置，所述穿刺实操模拟装置包括床身，所述床身顶部设置有人体模型，所述人体模型中部安装有穿刺部，所述人体模型内部设置有空腔二，所述空腔二内部安装有固定杆，所述固定杆上部设置有膀胱，所述膀胱设置在空腔二内一侧，所述固定杆底部设置有前列腺模型，所述前列腺模型与固定杆表面分别为相吸的磁力材料，所述固定杆底部与前列腺模型顶部滑动连接。本发明通过固定杆的磁性吸引能够使得前列腺模型沿着固定杆进行滑动，从而能够带动前列腺模型在人体模型内部的位置进行变动，从而能够为训练人员提供更多的身体数据模板。
The present invention relates to the field of puncture simulation equipment, and in particular to a prostate puncture simulation device for image fusion guidance, including a puncture simulation device, the puncture simulation device including a bed, a human model is arranged on the top of the bed, a puncture part is installed in the middle of the human model, a cavity 2 is arranged inside the human model, a fixed rod is installed inside the cavity 2, a bladder is arranged on the upper part of the fixed rod, the bladder is arranged on one side of the cavity 2, a prostate model is arranged at the bottom of the fixed rod, the prostate model and the surface of the fixed rod are respectively magnetic materials that attract each other, and the bottom of the fixed rod is slidably connected with the top of the prostate model. The present invention can make the prostate model slide along the fixed rod through the magnetic attraction of the fixed rod, thereby driving the position of the prostate model inside the human model to change, thereby providing more body data templates for trainers.
Description
Technical Field
The invention relates to the field of puncture practical operation simulation equipment, in particular to a prostate puncture simulation device for image fusion guidance.
Background
With the increasing incidence of prostate cancer, the diagnosis and treatment requirements of the prostate cancer are in an increasing stage, and prostate puncture is an invasive inspection method for diagnosing prostate diseases, generally, biopsy sampling is carried out on a suspicious region of the prostate by utilizing puncture biopsy through transrectal ultrasonic guidance, and in actual life, in order to improve puncture targeting accuracy, medical staff can be subjected to prostate puncture training in advance, and a phantom for guiding prostate puncture training is necessary. At present, a body model for guiding prostate puncture training is characterized in that the position, the size and the shape of a prostate model arranged in the body model are fixed, so that a puncture matrix is fixed during training, and the practical operation experience obtained after multiple training is improved less, which is not beneficial to improving the training effect. Therefore, we propose a device for image fusion guiding prostate puncture simulation to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to solve the defects in the background art and provides a simulation device for image fusion and guidance of prostate puncture.
In order to achieve the aim, the technical scheme is that the prostate puncture simulation device for image fusion guidance comprises a puncture practice simulation device, wherein the puncture practice simulation device comprises a lathe bed, a mannequin is arranged at the top of the lathe bed, a puncture part is arranged in the middle of the mannequin, a cavity II is arranged in the mannequin, a fixing rod is arranged in the cavity II, a bladder is arranged at the upper part of the fixing rod, the bladder is arranged at one side in the cavity II, a prostate model is arranged at the bottom of the fixing rod, the surfaces of the prostate model and the fixing rod are respectively made of attractive magnetic materials, and the bottom of the fixing rod is in sliding connection with the top of the prostate model.
Preferably, one side of the cavity II is provided with a cavity I, an air pump is installed in the cavity I, an air pipe is installed at the end part of the air pump, the other end of the air pipe is connected with a guide pipe, the air pipe is communicated with the inside of the guide pipe, and the guide pipe is installed between the cavity I and the cavity II.
Preferably, the inner container is arranged in the prostate model, the middle body is arranged in the inner container, the prostate model is connected with the inner container through the spacer, and a plurality of separation cavities are separated between the prostate model and the spacer through the spacer.
Preferably, the separation cavities are communicated with the inside of the middle whole body through connecting pipes, electromagnetic valves are arranged in the connecting pipes, openings are formed in the periphery of the middle whole body, and the inside of the middle whole body is communicated with the inside of the inner container through the openings.
Preferably, the inside sliding connection of pipe has the siphunculus, the one end that the siphunculus kept away from the pipe all is connected with prostate model fixed, the pipe is linked together with the inner bag is inside, siphunculus internally mounted has the solenoid valve.
Preferably, a limiting pipe is fixedly connected to the middle part of one end of the through pipe, which is far away from the prostate model, and one end of the limiting pipe, which is far away from the through pipe, penetrates through the end part of the catheter, and the limiting pipe is in sliding connection with the catheter.
Preferably, the one end fixedly connected with spacing ball of siphunculus is kept away from to spacing pipe, evenly distributed's through-hole has been seted up to the siphunculus outside the one end middle part of keeping away from the prostate model, the siphunculus is all linked together with the pipe is inside through the through-hole.
Preferably, an illuminating lamp is arranged on one side of the lathe bed, a display screen is arranged on the other side of the lathe bed, the illuminating lamp irradiating part is aligned to the puncturing part, and the display screen is connected with an acoustic wave puncturing probe.
Preferably, the bottom of the lathe bed is provided with a guide rail, the top of the guide rail is connected with a lifting table in a sliding manner, the end part of the guide rail is connected with an electric sliding frame, and the electric sliding frame is arranged on one side, far away from the lifting table, of the top of the guide rail.
Preferably, the lifting platform top lifting portion is fixedly connected with an installation platform, a targeting frame is installed in the middle of the top of the installation platform, a guide platform is arranged in the middle of the targeting frame and used for guiding the acoustic wave puncture probe.
Compared with the prior art, the invention has the following beneficial effects:
1. Can provide the target guide for the pjncture needle through targeting frame and guide table cooperation display screen in training puncture process, help people carry out the target puncture guide training, simultaneously, people can descend the mount table through the elevating platform, later start electronic balladeur train, can withdraw the lathe bed bottom with the mount table through the work of electronic balladeur train, can make things convenient for people to train normal prostate puncture operation by utilizing the real analogue means of puncture this moment, make the real analogue means of puncture can assist people to carry out the switching training of two kinds of puncture modes, be favorable to actual use.
2. When puncture training, people can start the air pump, can utilize the breather pipe to pump into the air current to pipe inside through the air pump, the solenoid valve of siphunculus is in the closed condition this moment, gaseous after getting into pipe inside, can promote the siphunculus and remove in the pipe inside for the siphunculus can outwards remove, when the air pump drive portion reverses, can extract the inside gas of pipe, thereby can drive siphunculus and prostate model and retract, thereby drive terminal prostate model and remove, can make the prostate model slide along the dead lever through the magnetic attraction of dead lever, thereby can drive the position of prostate model in the human model inside and change, can simulate the different health condition of different patients through one set of model, thereby can provide more health data templates for training personnel, be favorable to promoting training personnel's puncture experience fast.
3. People can open the solenoid valve inside the siphunculus, the gas of air pump income can enter into the siphunculus inside through the through-hole this moment, gas can enter into the inner bag inside after entering into the siphunculus inside, can be with the inside gaseous import of inner bag to the prostate model inside through the well body of inner bag inside and connecting pipe to can prop the prostate model and prop big, realize the change to the size of prostate model, thereby can simulate the data of the prostate of the disease of different ages and circumstances, be favorable to further providing the model of simulation training, the "parent" that faces when making every training can all change, interest and the unknown nature when being favorable to promoting many times training.
4. When the position and volume data of the prostate model are actually adjusted, the opening and closing of the electromagnetic valve inside the connecting pipe are controlled, so that the adjustment and change of the inflation amount of each compartment inside the prostate model can be realized, people can correspondingly adjust the body type position data of the prostate model according to the prostate data of a patient, the illness state of the patient can be simulated, and then the simulated operation can be performed before the actual operation, so that the success rate of the actual operation can be effectively improved, and the actual simulation effect can be improved.
Drawings
FIG. 1 is a schematic diagram of a front perspective view of a simulation device for image fusion guided prostate puncture according to the present invention;
FIG. 2 is a schematic top perspective view of a device for simulating image fusion guided prostate puncture according to the present invention;
FIG. 3 is a schematic view of a partial structure of a device for image fusion guidance of a prostate puncture simulator according to the present invention;
FIG. 4 is a schematic view of the internal part of the phantom of the invention for image fusion guided prostate puncture simulator;
FIG. 5 is a schematic view showing a partial structure of a fixing rod for an image fusion guiding prostate puncture simulator according to the present invention;
FIG. 6 is a schematic view of a partial structure of an intra-catheter for an image fusion guided prostate puncture simulator of the present invention;
FIG. 7 is a schematic view showing a partial structure of an inner liner of the device for simulating image fusion and prostate puncture according to the present invention;
Fig. 8 is a schematic diagram showing a partial structure in a prostate model for an image fusion guided prostate puncture simulator according to the present invention.
1. The puncture simulation device comprises a machine body, a puncture simulation device 101, a machine body, a human body model 102, a lighting lamp 103, a display screen 104, a guide rail 105, a lifting table 106, a lifting table 107, a targeting frame 108, a mounting table 109, a guide table 110, a ventilation pipe 111, a first cavity 112, a second cavity 113, a bladder 114, a prostate model 115, a catheter 116, a limiting pipe 117, a fixing rod 118, a through pipe 119, a limiting ball 120, a through hole 121, a liner 122, a separation cavity 123, a separation piece 124, a connecting pipe 125, a middle through body 126, an electric carriage 127 and a puncture part.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.
The device for image fusion and guiding prostate puncture simulation shown in fig. 1-8 comprises a puncture practice simulation device 1, wherein the puncture practice simulation device 1 comprises a lathe bed 101, a mannequin 102 is arranged at the top of the lathe bed 101, a puncture part 127 is arranged in the middle of the mannequin 102, a cavity II 112 is arranged in the mannequin 102, a fixing rod 117 is arranged in the cavity II 112, a bladder 113 is arranged at the upper part of the fixing rod 117, the bladder 113 is arranged at one side in the cavity II 112, a prostate model 114 is arranged at the bottom of the fixing rod 117, magnetic materials which are respectively attracted to the surface of the prostate model 114 are respectively arranged on the surface of the fixing rod 117, a magnetic sensing element is arranged at the end part of a puncture needle for training, and the magnetic materials on the surface of the prostate model 114 can be sensed with the end part of the puncture needle, and can be combined with image guiding observation, so that whether puncture training is successful or not can be judged, and meanwhile, the effect of not damaging the prostate model 114 can be achieved;
Further, when the operation is specifically carried out, people can also open the solenoid valve inside the through pipe 118, at this moment, the gas pumped by the air pump can enter the through pipe 118 through the through hole 120, the gas can enter the inner container 121 after entering the inner container 121, the middle through body 125 and the connecting pipe 124 inside the inner container 121 can lead the gas inside the inner container 121 into the inside of the prostate model 114, thereby supporting the prostate model 114, realizing the change of the size of the prostate model 114, further simulating the data of the prostate of patients with different ages and conditions, being favorable for further providing templates for simulating training, enabling the facing 'parent' to change during each training, being favorable for promoting the interestingness and the unknown during multiple training, realizing the adjustment and change of the inflation quantity of each 122 inside the prostate model 114 through controlling the opening and closing of the inner solenoid valve of the connecting pipe 124, so that people can effectively simulate the conditions of the patients with different ages and the corresponding operation positions of the prostate model 114 according to the prostate data of the patients, thereby effectively simulating the actual operation success rate of the operation model 114, and effectively promoting the actual performance of the operation.
The cavity I111 is arranged on one side of the cavity II 112, an air pump is arranged in the cavity I111, the air pump can perform forward and backward rotation to realize suction air combination, the vent pipe 110 is arranged at the end part of the air pump, the other end of the vent pipe 110 is connected with the guide pipe 115, the vent pipe 110 is communicated with the inside of the guide pipe 115, the guide pipe 115 is arranged between the cavity I111 and the cavity II 112, the guide pipe 115 is internally and slidably connected with the through pipe 118, one end of the through pipe 118, far from the guide pipe 115, is fixedly connected with the limiting pipe 116 at the middle part of one end of the through pipe 118, far from the prostate model 114, of the limiting pipe 116, the limiting ball 119 is fixedly connected with the end of the limiting pipe 116, far from the through pipe 118, the middle outer side of one end of the through pipe 118, far from the prostate model 114, is provided with uniformly distributed through holes 120, and the through pipe 118 is communicated with the inside of the guide pipe 115 through holes 120;
Further, in the practical implementation, when the simulated puncture training is actually performed, the prostate model 114 inside the manikin 102 can simulate the prostate to be punctured in a patient, and is used for providing a puncture target for a trained person, when the puncture training is performed, the person can start the air pump, the air pump can pump air flow into the guide tube 115 through the air pipe 110, the electromagnetic valve inside the through tube 118 is in a closed state at the moment, after entering the guide tube 115, the air can push the through tube 118 to move inside the guide tube 115, so that the through tube 118 can move outwards, when the air pump driving part is reversed, the air in the guide tube 115 can be extracted, so that the through tube 118 and the prostate model 114 are driven to retract, so that the terminal prostate model 114 is driven to move, the position of the prostate model 114 inside the manikin 102 can be driven to change through the magnetic attraction of the fixing rod 117, different physical conditions of different patients can be simulated through one set of models, further body data can be provided for a trained person, the trained person can be beneficial to quickly lift the template, the puncture part 127 can be replaced, and the puncture part of the puncture training part can be replaced by the puncture part 127 can be replaced, and the puncture training part can be replaced by the human body part can be replaced, and the puncture part of the puncture training part can be used for the puncture part is more than the puncture part is realized.
Wherein, one side of the lathe bed 101 is provided with an illuminating lamp 103, the other side of the lathe bed 101 is provided with a display screen 104, the illuminating part of the illuminating lamp 103 is aligned with a puncture part 127, the display screen 104 is connected with an acoustic wave puncture probe, the bottom of the lathe bed 101 is provided with a guide rail 105, the top of the guide rail 105 is connected with a lifting table 106 in a sliding way, the end part of the guide rail 105 is connected with an electric carriage 126, the electric carriage 126 is arranged on one side of the top of the guide rail 105 far away from the lifting platform 106, the lifting part at the top end of the lifting platform 106 is fixedly connected with a mounting platform 108, the middle part of the top end of the mounting platform 108 is provided with a target frame 107, the middle part of the target frame 107 is provided with a guide platform 109, and the guide platform 109 is used for guiding the acoustic wave puncture probe;
Further, in the concrete implementation, people can simulate the prostate puncture operation process under the guidance of the image fusion technology through the puncture real operation simulation device 1, help doctors to master the prostate puncture skill, help to improve the accuracy and safety of the actual clinical operation, reduce the complication risk of patients in the puncture process, in the simulation training, people can help people to conduct the prostate puncture operation training under the guidance of the image fusion technology through the mannequin 102, detect images transmitted by the sound wave puncture probe during puncture can be displayed through the display screen 104, the surrounding environment can be supplemented through the illuminating lamp 103, the actual operation scene is simulated, the simulation degree of the simulation training is improved, help people to conduct the target puncture guide training through the targeting frame 107 and the guide table 109, the mounting table 108 is lowered at the moment through the lifting table 106, then the electric carriage 126 is started, the lifting table 106 and the bottom of the mounting table 108 can be conveniently displayed through the work of the electric carriage 126, the simulation device can be conveniently used for switching the actual operation training mode of the puncture real operation simulation device 1 to enable the people to conduct the simulation training by using the puncture real operation device 1.
Working principle:
In actual use, people can simulate the prostate puncture operation process under the guidance of the image fusion technology through the puncture practice simulation device 1, help doctors to master the prostate puncture skill, help to improve the accuracy and safety of the actual clinical operation, reduce the complication risk of patients in the puncture process, can help people to cooperate with the puncture practice simulation device 1 to perform the prostate puncture operation training under the guidance of the image fusion technology through the human body model 102 during simulation training, can display the detection picture transmitted by the acoustic wave puncture probe during the puncture through the display screen 104, can assist the light supplementing to the surrounding environment through the lighting lamp 103, simulate the actual operation scene, be beneficial to improving the simulation degree of the simulation training, can cooperate with the display screen 104 to provide the target guidance for the puncture needle during the training puncture through the targeting frame 107 and the guide table 109, the device helps people to conduct targeted puncture guiding training, meanwhile, people can descend the mounting table 108 through the lifting table 106, then start the electric carriage 126, retract the lifting table 106 and the mounting table 108 to the bottom of the lathe bed 101 through the work of the electric carriage 126, at the moment, the device can facilitate people to train the conventional prostate puncture operation by using the puncture practice simulation device 1, so that the puncture practice simulation device 1 can assist people to conduct switching training of two puncture modes, the device is beneficial to practical use, when the puncture simulation training is actually conducted, the prostate to be punctured in a patient can be simulated through the prostate model 114 in the manikin 102 for providing puncture targets for trained people, when the puncture training is conducted, people can start the air pump, air flow can be pumped into the catheter 115 through the air pump 110, at this time, the electromagnetic valve inside the tube 118 is in a closed state, after gas enters the inside of the catheter 115, the tube 118 is pushed to move inside the catheter 115, so that the tube 118 can move outwards, when the air pump driving part reverses, the gas inside the catheter 115 can be extracted, so that the tube 118 and the prostate model 114 can be driven to retract, so that the terminal prostate model 114 is driven to move, the prostate model 114 can slide along the fixing rod 117 through the magnetic attraction of the fixing rod 117, so that the position of the prostate model 114 inside the manikin 102 can be driven to change, different physical conditions of different patients can be simulated through one set of models, more physical data templates can be provided for training staff, the puncture experience of the training staff can be promoted rapidly, the puncture part 127 is a replaceable part, people can realize the extension of the service life of the manikin 102 by replacing the puncture part 127, meanwhile, people can also open the electromagnetic valve in the through pipe 118, at the moment, the gas pumped by the air pump can enter the through pipe 118 through the through hole 120, and after entering the through pipe 118, the gas can enter the inner container 121, and the gas in the inner container 121 can be guided into the prostate model 114 through the middle through body 125 and the connecting pipe 124 in the inner container 121, so that the prostate model 114 can be supported and enlarged, the change of the size of the prostate model 114 is realized, the data of the prostate of patients with different ages and conditions can be simulated, the model for simulating training is further provided, the 'parent' facing each training can be changed, the interestingness and the unknowness during multiple training are improved, when the position and volume data of the prostate model 114 are actually adjusted, the adjustment and change of the inflation amount of each compartment 122 in the prostate model 114 can be realized by controlling the opening and closing of the electromagnetic valve in the connecting pipe 124, so that people can correspondingly adjust the body type position data of the prostate model 114 according to the prostate data of a patient and simulate the disease condition of the patient, and thus, the simulated operation can be performed before the actual operation, the success rate of the actual operation can be effectively improved, and the actual simulation effect can be improved.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411699148.9A CN119229719B (en) | 2024-11-26 | 2024-11-26 | Prostate puncture simulator for image fusion guidance |
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| CN202411699148.9A CN119229719B (en) | 2024-11-26 | 2024-11-26 | Prostate puncture simulator for image fusion guidance |
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| CN119229719B true CN119229719B (en) | 2025-02-25 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201465401U (en) * | 2009-07-02 | 2010-05-12 | 上海智道实业发展有限公司 | Prostate function teaching demonstration model |
| CN117173976A (en) * | 2023-08-04 | 2023-12-05 | 拜斯特医疗科技(北京)有限公司 | Phantom for guiding prostate puncture by image fusion and training method |
| CN117456809A (en) * | 2023-09-22 | 2024-01-26 | 中国人民解放军空军军医大学 | Prostate puncture exercise device based on PSMAPET image technology |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9117377B2 (en) * | 2013-03-15 | 2015-08-25 | SmarTummy, LLC | Dynamically-changeable abdominal simulator system |
| CN113327475A (en) * | 2021-06-22 | 2021-08-31 | 高文锁 | Urinary surgery lower urinary tract minimally invasive surgery training model |
| CN118397904A (en) * | 2024-05-21 | 2024-07-26 | 吉林大学 | A training model and training method for minimally invasive surgery of lower urinary tract in urology |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201465401U (en) * | 2009-07-02 | 2010-05-12 | 上海智道实业发展有限公司 | Prostate function teaching demonstration model |
| CN117173976A (en) * | 2023-08-04 | 2023-12-05 | 拜斯特医疗科技(北京)有限公司 | Phantom for guiding prostate puncture by image fusion and training method |
| CN117456809A (en) * | 2023-09-22 | 2024-01-26 | 中国人民解放军空军军医大学 | Prostate puncture exercise device based on PSMAPET image technology |
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