可动态调节的前列腺模型，用于精准模拟增生症状。
Active Prostate Phantom with Multiple Chambers
- 用气动控制多个独立腔室，实现对前列腺形态的精确调整。
- 正向与逆向建模平均误差分别低至3.47%和1.41%。
- 适合机器人手术验证与医学仿真训练，提升真实感。
前列腺癌是全球重大健康问题，亟需在机器人手术与诊断方面取得进展以改善患者预后。幻影（phantom）是一种模拟人体组织或器官的特殊装置，可用于医疗流程校准、测试、培训与研究。现有前列腺幻影无法模拟动态变化场景。本文提出一种气动驱动的多腔前列腺幻影，可独立控制多个腔室，实现对对称与非对称良性前列腺增生（BPH）的精确体积调节。该幻影基于磁共振成像（MRI）数据集的形状分析构建，采用有限元法（FEM）建模，并通过三维重建进行验证。仿真结果与物理测量高度一致，正向建模平均误差为3.47%，逆向建模平均误差为1.41%。这些结果表明，该幻影具备作为机器人辅助系统验证平台的潜力，并可进一步发展为真实感医疗仿真训练工具。
原文摘要 · Abstract (English)
Prostate cancer is a major global health concern, requiring advancements in robotic surgery and diagnostics to improve patient outcomes. A phantom is a specially designed object that simulates human tissues or organs. It can be used for calibrating and testing a medical process, as well as for training and research purposes. Existing prostate phantoms fail to simulate dynamic scenarios. This paper presents a pneumatically actuated prostate phantom with multiple independently controlled chambers, allowing for precise volumetric adjustments to replicate asymmetric and symmetric benign prostatic hyperplasia (BPH). The phantom is designed based on shape analysis of magnetic resonance imaging (MRI) datasets, modeled with finite element method (FEM), and validated through 3D reconstruction. The simulation results showed strong agreement with physical measurements, achieving average errors of 3.47% in forward modeling and 1.41% in inverse modeling. These results demonstrate the phantom's potential as a platform for validating robotic-assisted systems and for further development toward realistic simulation-based medical training.
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