Real-Time Needle Force Modeling for VR-Based Renal Biopsy Training with Respiratory Motion Using Direct Clinical Data

Figure 3

Clinical trial setup for the multichannel intraoperative data collection. Component details are as follows: 1: biopsy surgical instrument; 2: force sensor (ATI Nano17) +3D print connector; 3: line puncture device integration; 4: data conversion; 5: analysis software; 6: patient.