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. 2019 Sep 18;48(1):437–446. doi: 10.1007/s10439-019-02361-7

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© The Author(s) 2019

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Evaluation process and parameters for the surgical simulation; (a) The phantoms are imaged using ultrasound scanning before and after surgery; (b) The interesting regions are segmented by automated detection (blue: peripheral zone, red: central zone and pink: urethra zone) and corresponding values are extracted to evaluate surgical skills based on three parameters (c–e); (c) The preservation of peripheral zone; (d) The smoothness of resection boundary; (e) The circularity of resection.