1. Rosen KR.The history of medical simulation.J Crit Care，2008，23（2）：157-166.

2. Ahmed K，Keeling AN，Fakhry M，et al.Role of Virtual Reality Simulation in Teaching and Assessing Technical Skills in Endovascular InterventionJ VascInterv Radiol，2010，21（1）：55-66.

3. Zahraee AH，Szewczyk J，Paik JK，et al.Robotic hand-held surgical device：evaluation of end-effector’s kinematics and development of proof-of-concept prototypes.Med Image Comput Comput Assist Interv，2010，13（Pt 3）：432-439.

4. Nishisaki A，Keren R，Nadkarni V.Does simulation improve patient safety？Self-efficacy，competence，operational performance，and patient safety. Anesthesiol Clin，2007，25（2）：225-236.

5. Cooper JB，Taqueti VR.A brief history of the development of mannequin simulators for clinical education and training.Postgrad Med J，2008，84（997）：563-570.

6. Vlaovic PD，Sargent ER，Boker JR，et al.Immediate impact of an intensive one-week laparoscopy training program on laparoscopic skills among postgraduate urologists.JSLS，2008，12（1）：1-8.

7. Leung J，Foster E.How do we ensure that trainees learn to perform biliary sphincterotomy safely，appropriately，and effectively？Curr Gastroenterol Rep，2008，10（2）：163-168.

8. Ahmed K，Jawad M，Abboudi M，et al.Effectiveness of procedural simulation in urology：a systematic review.J Urol，2011，186（1）：26-34.

9. Milburn JA，Khera G，Hornby ST，et al.Introduction，availability and role of simulation in surgical education and training.Int J Surg，2012，10（8）：393-398.