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

Table 1

Parameters of tissue movement during respiration.

	Kidney (left)	Heart	Lung	Liver	Dorsal muscles
Motion (mm)	7.1 (4.5-9.8)	5.2 (2.4-7.9)	8.6 (5.2-12.0)	4.5 (3.0-6.0)	2.9 (0.3-5.5)
Breath cycle (s)	5 (4-6)