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

Table 3

Fitting degree between the biomechanics data and our force model.

Phase	Fitting degree
Type	1	2	3	4	5	Average
Kidney (left)	0.9975	0.9446	0.9939	0.9936	0.9980	0.9855
Liver	0.9996	0.9988	0.9998	0.9994	0.9999	0.9995
Lung	0.9997	1	1	0.9979	0.9993	0.9994
Heart	1	0.9999	1	0.9310	0.9999	0.9862
Dorsal muscles	0.9997	0.9979	0.9999	0.9999	0.9996	0.9994