Research Article
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 |
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