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

Table 2

Renal biopsy components in the operation room and the virtual simulator.

Number	Operation room (Figure 4)	Virtual simulation (Figure 5)
1	Guide image recording	Original guide image
2	Audio recording	Hi-fi headphone
3	Ultrasound head	Ultrasound head
4	ATI Nano17	PHANTOM Omni
5	18G trocar needle	18G trocar needle
6	Patient	CT reconstruction
7	Force output	Force rendering
8	Surgical environment	HTC VIVE