Creation of a training simulator model for practising puncture of the kidney calyceal system under ultrasound control by N. K. Gadzhiev, A. A. Mishchenko, V. P. Britov, A. M. Khrenov, D. S. Gorelov, V. M. Obidnyak, V. E. Grigoriev, I. V. Semenyakin, S. B. Petrov

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