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

Figure 5

The immersive virtual training platform with an i7 6700 (3.4 GHz) CPU workstation, 8 GB memory, and 1070 NVIDIA Graphics GPU. Two PHANTOM Omni reproduce the dual-hand force rendering, HTC VIVE provides the 3D visual rendering with head tracking, and a Beat Solo 2 wireless headphone provides the real-time surgical audio. Component details corresponding with the operation room are demonstrated in Table 2.