Research Article
Real-Time Needle Force Modeling for VR-Based Renal Biopsy Training with Respiratory Motion Using Direct Clinical Data
Table 6
Results of subjective evaluation on the VR-based training simulator.
| Subjective questionnaires | Expert (9) | Novice (18) |
| Dynamic force model effects (range 1-5) | | | Realism of respiratory | 3.7 | 3.9 | Realism of haptic feedback | 3.9 | 4.2 | Realism of needle insertion | 4.1 | 4.1 | Haptic fatigue | 2.3 | 1.4 | System evaluation (range 1-5) | | | VR graphic performance | 3.9 | 4.2 | Surgical tool manipulation | 3.4 | 3.7 | Visual fatigue | 1.1 | 1.2 | Comfortable HMC training | 3.7 | 3.5 | Hand-eye coordination training | 4.1 | 4.5 | Overall appraisal | 3.6 | 3.4 | Exceptions? (range 1-5) | | | Surgical navigation | 3.1 | 3.5 | Surgical planning | 4.2 | 4.7 | Novice training | 4.7 | 4.6 | Resident practice | 3.9 | 4.1 | Surgical rehearsal | 3.5 | 3.8 |
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