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

Table 5

Results of GRS and objective evaluation on the VR-based training simulator.

	Experts (9)	Novice (18)	P value
GRS (range 1-5)
Identify anatomy			<0.001
Plan needle puncture			<0.001
Instrument use			<0.001
Ability to perform tasks			<0.001
Overall performance			<0.001
Objective assessment
Operation time (min)			<0.001
Fluoroscopy time (min)			<0.001
No. needle punctures			0.002
Infundibular injury			<0.001
PCS perforations			0.024
Rib injury			0.02
Blood vessel injury			0.07