WO2015037978A1 - An anatomical model - Google Patents
An anatomical model Download PDFInfo
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- WO2015037978A1 WO2015037978A1 PCT/MY2014/000230 MY2014000230W WO2015037978A1 WO 2015037978 A1 WO2015037978 A1 WO 2015037978A1 MY 2014000230 W MY2014000230 W MY 2014000230W WO 2015037978 A1 WO2015037978 A1 WO 2015037978A1
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- WO
- WIPO (PCT)
- Prior art keywords
- anatomical
- medical images
- model
- actual
- images
- Prior art date
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- 210000003484 anatomy Anatomy 0.000 claims abstract description 67
- 238000004519 manufacturing process Methods 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 21
- 239000000654 additive Substances 0.000 claims abstract description 17
- 230000000996 additive effect Effects 0.000 claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims abstract description 11
- 238000001356 surgical procedure Methods 0.000 claims description 20
- 239000007943 implant Substances 0.000 claims description 9
- 210000000988 bone and bone Anatomy 0.000 claims description 7
- 238000002591 computed tomography Methods 0.000 claims description 7
- 238000012549 training Methods 0.000 claims description 7
- 206010028980 Neoplasm Diseases 0.000 claims description 5
- 238000003745 diagnosis Methods 0.000 claims description 5
- 239000011505 plaster Substances 0.000 claims description 5
- 210000000056 organ Anatomy 0.000 claims description 4
- 239000000443 aerosol Substances 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 239000000919 ceramic Substances 0.000 claims description 3
- 238000010894 electron beam technology Methods 0.000 claims description 3
- 238000010100 freeform fabrication Methods 0.000 claims description 3
- 238000002844 melting Methods 0.000 claims description 3
- 230000008018 melting Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000003625 skull Anatomy 0.000 description 3
- 230000004927 fusion Effects 0.000 description 2
- 238000011282 treatment Methods 0.000 description 2
- 239000011800 void material Substances 0.000 description 2
- 208000002330 Congenital Heart Defects Diseases 0.000 description 1
- 201000009859 Osteochondrosis Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 208000028831 congenital heart disease Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000002316 cosmetic surgery Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000000642 iatrogenic effect Effects 0.000 description 1
- 238000003703 image analysis method Methods 0.000 description 1
- 238000007641 inkjet printing Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000002595 magnetic resonance imaging Methods 0.000 description 1
- 210000002901 mesenchymal stem cell Anatomy 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000003491 skin Anatomy 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
Classifications
-
- 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
- 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
- G09B23/30—Anatomical models
Abstract
This invention relates to a three-dimensional anatomical model (100) representing at least one actual anatomical structure comprising one or more anatomical region produced from an additive manufacturing technique using different materials each representing different anatomical regions, the anatomical region being configured by a three-dimensional conversion of a plurality of segmented medical images to simulate the actual anatomical structure captured in the segmented medical images.
Description
AN ANATOMICAL MODEL
FIELD OF INVENTION
This invention relates to an anatomical model. In more particular, this invention relates to an anatomical model that simulates actual anatomical structure.
BACKGROUND OF THE INVENTION
Artificial anatomical structure created through three-dimensional (3D) modelling is a common and important practice in the medical industry. The produced 3D models must be as similar to patient's body parts as possible to enable physicians, surgeons and radiologists to visualize, rehearse, diagnose or plan for surgical and treatment procedure of a patient.
While several processes such as milling, drilling or turning are commonly used to produce such 3D models, nevertheless these processes are relatively wasteful as materials from the work piece are cut off to form the desired models. Apart from that, moulding or casting processes are used to produce 3D models by solidifying production materials in moulds fabricated according to shapes and sizes of the desired body parts. However, fabrication of merely the moulds require abundant of time, especially for moulds with high complexity and large size.
There are some patent technologies over the prior arts relating to a method to produce a 3D model. Of interest is U.S. Patent Publication No. US 2007027705(A1). A method of creating a complex surface model of an anatomy is disclosed. However, a plurality of location points defining sections of the anatomy are mapped using a
localization system, which includes a modelling processor and a geometry processor.
In a U.S. Patent Publication No. 5961454, a method for image fusion of anatomical image data of a patient's body is disclosed. First and second tomographic data sets are taken with a graphic localizer so as to register them to a stereotactic coordinate system. The data sets are fused mathematically to form three dimensional image data sets. While this prior art focuses on the fusion of anatomical image data sets, it does not explore an innovative way to produce a three-dimensional structure from the fused image data sets.
In another U.S. Patent Publication No. 20100054572(A1), an image analysis method is disclosed. Suitable image, includes magnetic resonance imaging (MRI), are obtained in plurality of planes to generate a 3D data volume, where the 3D data volume can be further derive to produce an implant. A resultant gray value is interpolated from a first and second gray values and a voxel is assigned to the resultant gray value. However, the generated 3D data volumes are combined with each other to form an isotropic or near-isotropic image volume.
A journal entitled 'Stereolithographic Biomodeling of Congenital Heart Disease by Multislice Computed Tomography Imaging' by Isao Shiraishi discloses a technique to produce a 3D volumetric model by obtaining data acquisition from multislice computed tomography (CT) and utilizing the data to guide an ultraviolet laser beam to generate a 3D model. Another journal entitled 'Use of 3D Geometry Modeling of Osteochondrosis-like Iatrogenic Lesions as a Template for Press-and-Fit Scaffold Seeded with Mesenchymal Stem Cells' by P. Krupa and others also discloses a process for generating 3D model using CT images. Rapid prototyping is used to produce the 3D model by printing glue on a plaster layer. However, these prior arts disclose that the 3D images are merely generated by image analysis software by defining the volume of interest.
Because of the lack of accurate radiological information, the physicians were not able to achieve good alignment and hence likely to cause failure of surgeries. Multiple surgeries would result higher risk to the patient, as well as more costs and significant additional recovery times. Therefore, it is highly desirable for the present invention to provide an informative three dimensional anatomical model that enables accurate surgical planning, rehearsals and training.
SUMMARY OF INVENTION
The primary object of the present invention is to provide a 3D anatomical model that accurately simulates actual anatomical structures. Another object of the present invention is to provide an anatomical model that can assess the relationships of soft tissues, airway, skin, bones and joints. The anatomical model have similar regions, thickness or colour to an actual organ, tissue, airway, skin, bone or joint. It is yet another object of the present invention to provide an informative anatomical model of an actual anatomical structure to enable accurate surgical planning, rehearsals and training.
A further object of the present invention is to provide an anatomical model that is used as a customized implant for a specific patient.
Still another object of the present invention is to provide a method to produce an implant that is according to a patient's or biological organism's shape and need.
At least one of the proceeding objects is met, in whole or in part, by the present invention, in which the preferred embodiment of the present invention describes a 3D anatomical model representing at least one actual anatomical structure comprising one or more anatomical region produced from an additive manufacturing technique using different materials each representing different anatomical regions, the anatomical region being configured by a 3D conversion of a plurality of segmented medical images to simulate the actual anatomical structure captured in the segmented medical images. One of the preferred embodiments of the present invention discloses that the actual anatomical structure is cranium, maxillofacial, skin, bone, organ, tumour or any two or more combination thereof.
In one of the embodiment of the present invention, the medical images are segmented based on grey level values of the actual anatomical structure.
Another embodiment of the present invention is that the one or more anatomical regions are simultaneously produced from the additive manufacturing technique. Still another embodiment of the present invention is that wherein the medical images are X-ray images, computed tomography images or magnetic resonance images.
A further embodiment of the present invention discloses that the 3D conversion of the medical images is performed using marching cube algorithm, Delaunay's triangulation algorithm, Grey Level Isotropic Transfer Function (GLITRAF) or a combination thereof.
A particular embodiment of the present invention discloses that the additive manufacturing technique includes rapid layered manufacturing, direct digital
manufacturing, laser processing, electron beam melting, aerosol jetting, inkjet, semisolid free-form fabrication or any combination thereof.
In still another embodiment of the present invention, the material is any combination of polymeric material, plaster, ceramic, stainless steel or alloy.
Yet another embodiment of the present invention discloses a use of a 3D anatomical model representing at least one actual anatomical structure comprising one or more anatomical region produced from an additive manufacturing technique using different materials each representing different anatomical regions, the anatomical region being configured by a 3D conversion of a plurality of segmented medical images to simulate the actual anatomical structure captured in the segmented medical images is for pre- surgery training, surgery diagnosis, surgery planning, surgery navigation, education, exhibition, collection or implant customization.
The present preferred embodiments of the invention consists of novel features and a combination of parts hereinafter fully described and illustrated in the accompanying drawings and particularly pointed out in the appended claims; it being understood that various changes in the details may be effected by those skilled in the arts but without departing from the scope of the invention or sacrificing any of the advantages of the present invention.
BRIEF DESCRIPTION OF THE DRAWINGS
For the purpose of facilitating an understanding of the invention, there is illustrated in the accompanying drawing the preferred embodiments from an inspection of which when considered in connection with the following description, the invention, its construction and operation and many of its advantages would be readily understood
and appreciated.
Figure 1 shows a cross sectional view of an anatomical model (100) as described in accordance to the preferred embodiments of the present invention.
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the invention shall be described according to the preferred embodiments of the present invention and by referring to the accompanying description and drawings. However, it is to be understood that limiting the description to the preferred embodiments of the invention and to the drawings is merely to facilitate discussion of the present invention and it is envisioned that those skilled in the art may devise various modifications without departing from the scope of the appended claim.
The present invention discloses relates to an anatomical model. In more particular, this invention relates to a 3D anatomical model that simulates an actual anatomical structure. Referring to Figure 1, the present invention discloses a 3D anatomical model (100) representing at least one actual anatomical structure comprising one or more anatomical region produced from an additive manufacturing technique using different materials each representing different anatomical regions, the anatomical region being configured by a 3D conversion of a plurality of segmented medical images to simulate the actual anatomical structure captured in the segmented medical images.
According to a preferred embodiment of the present invention, the 3D model (100) is preferred to be produced through several steps, which comprising obtaining a plurality of medical images containing at least one anatomical region, wherein each anatomical
region is defined based on a grey level value on the medical images; segmenting each medical image based on the anatomical region to obtain the grey level value; converting the grey level values of the segmented medical images into vector data; interpolating the vector data of each segmented medical image to form a 3D data; and producing the 3D anatomical model (100) from the 3D data.
In another preferred embodiment of the present invention, the actual anatomical structure is cranium, maxillofacial, skin (101), bone (103), organ, tumour (105) or any two or more combination thereof. The plurality of medical images used are thus capturing the actual anatomical structure and representing each structure in a grey level value. The plurality of medical images, or may otherwise be known as medical scan images or internal reference images, are rendered together to produce the 3D anatomical model (100). It is to be understood that the medical images are images in the transverse, coronal, or sagittal planes of a patient or biological organism and the planes depend on a diagnostic task. The medical images can be X-ray images, computed tomography images, magnetic resonance images or any other medical images. Preferably, the medical images are computed tomography images or magnetic resonance images. Still referring to Figure 1, a cross sectional view of the anatomical model (100) is shown. This example of anatomical model (100) is a human skull with a plurality of anatomical regions such as a region of skin (101), a region of bone (103) and a region of tumour (105). The anatomical region is preferred to be represented by any one or a combination of material including polymeric material, plaster, ceramic, stainless steel or alloy. Particularly, each anatomical region is fabricated from a material different from the other anatomical region.
Most preferably, the 3D anatomical model (100) is preferred to have the regions made of different materials with texture and colour simulating the actual anatomical
structure. For example of the human skull in Figure 1, the anatomical model (100) can have the bone region (103) made of plaster, the skin region (101) made of polymeric material and the tumour region (105) made of silicone gel. In a further embodiment of the present invention, the medical image shows a plurality of regions having different grey level values. The medical images are preferred to have a plurality of volumetric pixels and each pixel correspondences to a grey level value. A void region is shown to have the darkest shade, with a grey level value of 0. The anatomical regions are shown to have lighter shades with grey level values in a range of 1 to 255 for a 8-bit per pixel of medical image. The medical images with high contrast of resolution are able to distinguish the differences between different anatomical regions that differ in physical density, usually by less than 1%. Through the step of segmenting the medical images, the void region is preferred to be eliminated. Depending on a region of interest, a grey level value defining the region of interest is selected and converted to a 3D data. Upon segmenting the region of interest, any noise, artefacts or undesired regions are eliminated or reduced.
According to another embodiment of the present invention, the grey level value of each region of interest ranges from 0 - 255 for images with 8-bits per pixel. The medical images shows that each pixel has an intensity of grey shade, where the weakest intensity is black, the strongest intensity is white and many shades of grey in between. For medical images with colour scales, the images are preferred to be converted to greyscales images as 3D conversion of colour images produces poor results of images. The medical images are preferred to be analysed in a computer and the intensity of the grey level are computed through the grey level values that can be stored in binary or quantized forms. These 2D values are then converted to vector data by a mathematical equation. The vector data is further converted to 3D data. The vector data is preferred to be stored in a polygon (PLY) file format as it is simple, fast in saving and loading as well as easy to be implemented for a wide range of computer
programmes.
Yet another embodiment of the present invention discloses that the 3D conversion of the medical images is by using marching cube algorithm, Delaunay's triangulation algorithm, Grey Level Isotropic Transfer Function (GLITRAF) or a combination thereof. All vector data are preferred to be combined by using a Marching cube algorithm and Delaunay's triangulation algorithm to form the 3D data. Due to the isotropic ability of marching cube and Delaunay's triangulation algorithm, the vector data is able to expand their pixels of in a single direction. The pixels are interpolated to form connecting series of pixel pairs. The 3D data comprises vector data in forms of arcs and lines that are geometrically and mathematically associated. As a result, the model (100) produced from the additive manufacturing technique has a continuous and smooth surface. In another embodiment of the present invention, the 3D data can be modified before subjecting to the additive manufacturing technique. Shape of the anatomical model (100) and materials to be used for each anatomical region can be predetermined in the 3D data. By this way of predetermination and modification, accurate shape and material can be assigned to each anatomical region, beneficial specifically for plastic surgery, implant customization and pre-surgical training.
According to a further embodiment of the present invention, the 3D data is subjected to a rapid additive manufacturing technique where layers of material are added upon one another to form the 3D anatomical model. The rapid additive manufacturing technique include layered manufacturing, direct digital manufacturing, laser processing, electron beam melting, aerosol jetting, inkjet printing or semi-solid free- form fabrication. The 3D data enables the rapid additive manufacturing machine to sequentially built up many thin layers upon another to build the 3D anatomical model (100). For direct production of implants or anatomical structure, no additional tooling
or moulds are required. Fabrication time can thus be reduced. The present invention can be a mould to be used in hot or cold pressing for implants production such as steel plates for skull. In accordance to another embodiment of the present invention, the anatomical regions of the 3D anatomical model (100) are simultaneously produced from the additive manufacturing technique. The different anatomical regions do not need further fixation or arrangement because the different anatomical regions are produced from the technique simultaneously to produce a complete anatomical model (100).
Based on the preferred embodiments of the present invention, use of a 3D anatomical model (100) representing at least one actual anatomical structure comprising one or more anatomical region produced from an additive manufacturing technique using a wide variety of different materials each representing different anatomical regions, the anatomical region being configured by a 3D conversion of a plurality of segmented medical images to simulate the actual anatomical structure captured in the segmented medical images is for pre-surgery training, surgery diagnosis, surgery planning, surgery navigation, education, exhibition, collection or implant customization. A surgeon is able to perform a rehearsal surgery prior to the actual operation by enabling the surgeon to mark, cut and operate the 3D model (100) as well as to provide a clear and accurate depiction before surgery. Minutes or hours of operating time can be reduced by careful preparation and planning using the 3D anatomical model (100).
Besides, the anatomical model (100) enables a surgeon to communicate with the patient about an upcoming surgery diagnosis through the patient's own 3D anatomical model (100) instead of explaining through a textbook drawing or a generic anatomical model made by an artist impression. This also enables the patient to understand his or her diagnosis, health conditions and benefits of treatments. On the other hand, surgical trainees are able to learn and perform surgery similar to the actual surgery.
For surgical trainees without prior surgical experience, the 3D anatomical model (100), which simulates actual anatomical structure, provides an intensive training that will decrease the time taken to complete an actual surgery, increase accuracy, and decrease errors.
While the invention has been disclosed in connection with the preferred embodiments shown and described in detail, various modifications and improvements thereon will become readily apparent to those skilled in the art. Accordingly, the spirit and scope of the present invention is not to be limited by the foregoing examples, but is to be understood in the broadest sense allowable by law.
Claims
A three-dimensional anatomical model (100) representing at least one actual anatomical structure comprising one or more anatomical region produced from an additive manufacturing technique using different materials each representing different anatomical regions, the anatomical region being configured by a three-dimensional conversion of a plurality of segmented medical images to simulate the actual anatomical structure captured in the segmented medical images.
An anatomical model (100) claimed in claim 1, wherein the actual anatomical structure is cranium, maxillofacial, skin (101), bone (103), organ, tumour (105) or any two or more combination thereof.
An anatomical model (100) claimed in claim 1, wherein the medical images are segmented based on grey level values of the actual anatomical structure.
An anatomical model (100) claimed in claim 1, wherein the one or more anatomical regions are simultaneously produced from the additive manufacturing technique.
An anatomical model (100) claimed in claim 1, wherein the medical images are X-ray images, computed tomography images or magnetic resonance images.
6. An anatomical model (100) claimed in claim 1, wherein the three-dimensional conversion of the medical images is performed using marching cube algorithm, Delaunay's triangulation algorithm, Grey Level Isotropic Transfer
Function (GLITRAF) or a combination thereof.
An anatomical model (100) claimed in claim 1, wherein the additive manufacturing technique includes rapid layered manufacturing, direct digital manufacturing, laser processing, electron beam melting, aerosol jetting, inkjet, semi-solid free-form fabrication or any combination thereof.
An anatomical model (100) claimed in claim 1, wherein the material is any one or a combination of polymeric material, plaster, ceramic, stainless steel or alloy.
Use of a three-dimensional anatomical model (100) representing at least one actual anatomical structure comprising one or more anatomical region produced from an additive manufacturing technique using different materials each representing different anatomical regions, the anatomical region being configured by a three-dimensional conversion of a plurality of segmented medical images to simulate the actual anatomical structure captured in the segmented medical images is for pre-surgery training, surgery diagnosis, surgery planning, surgery navigation, education, exhibition, collection or implant customization.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| MYPI2013701619 | 2013-09-10 | ||
| MYPI2013701619A MY181925A (en) | 2013-09-10 | 2013-09-10 | An anatomical model |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2015037978A1 true WO2015037978A1 (en) | 2015-03-19 |
Family
ID=52665993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/MY2014/000230 WO2015037978A1 (en) | 2013-09-10 | 2014-09-09 | An anatomical model |
Country Status (2)
| Country | Link |
|---|---|
| MY (1) | MY181925A (en) |
| WO (1) | WO2015037978A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104992604A (en) * | 2015-07-13 | 2015-10-21 | 上海市第六人民医院 | Method for constructing segmental individual human urethral tissue entity model |
| CN105031725A (en) * | 2015-07-13 | 2015-11-11 | 上海市第六人民医院 | Method for constructing segmental personalized human urethral three-dimensional stent material |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070118243A1 (en) * | 2005-10-14 | 2007-05-24 | Vantus Technology Corporation | Personal fit medical implants and orthopedic surgical instruments and methods for making |
| US20090149977A1 (en) * | 2007-11-06 | 2009-06-11 | Schendel Stephen A | Methods, systems, and computer program products for shaping medical implants directly from virtual reality models |
| WO2012119144A1 (en) * | 2011-03-03 | 2012-09-07 | Cornell University | Method for specifying and fabricating an object, associated apparatus, and applications |
| WO2014178705A1 (en) * | 2013-04-30 | 2014-11-06 | Universiti Malaya | A method for manufacturing a three-dimensional anatomical structure |
-
2013
- 2013-09-10 MY MYPI2013701619A patent/MY181925A/en unknown
-
2014
- 2014-09-09 WO PCT/MY2014/000230 patent/WO2015037978A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070118243A1 (en) * | 2005-10-14 | 2007-05-24 | Vantus Technology Corporation | Personal fit medical implants and orthopedic surgical instruments and methods for making |
| US20090149977A1 (en) * | 2007-11-06 | 2009-06-11 | Schendel Stephen A | Methods, systems, and computer program products for shaping medical implants directly from virtual reality models |
| WO2012119144A1 (en) * | 2011-03-03 | 2012-09-07 | Cornell University | Method for specifying and fabricating an object, associated apparatus, and applications |
| WO2014178705A1 (en) * | 2013-04-30 | 2014-11-06 | Universiti Malaya | A method for manufacturing a three-dimensional anatomical structure |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104992604A (en) * | 2015-07-13 | 2015-10-21 | 上海市第六人民医院 | Method for constructing segmental individual human urethral tissue entity model |
| CN105031725A (en) * | 2015-07-13 | 2015-11-11 | 上海市第六人民医院 | Method for constructing segmental personalized human urethral three-dimensional stent material |
| CN104992604B (en) * | 2015-07-13 | 2018-01-05 | 上海市第六人民医院 | A kind of method for building segmental individuation human urethra organization object model |
Also Published As
| Publication number | Publication date |
|---|---|
| MY181925A (en) | 2021-01-14 |
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