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 questionnairesExpert (9)Novice (18)

Dynamic force model effects (range 1-5)
 Realism of respiratory3.73.9
 Realism of haptic feedback3.94.2
 Realism of needle insertion4.14.1
 Haptic fatigue2.31.4
System evaluation (range 1-5)
 VR graphic performance3.94.2
 Surgical tool manipulation3.43.7
 Visual fatigue1.11.2
 Comfortable HMC training3.73.5
 Hand-eye coordination training4.14.5
 Overall appraisal3.63.4
Exceptions? (range 1-5)
 Surgical navigation3.13.5
 Surgical planning4.24.7
 Novice training4.74.6
 Resident practice3.94.1
Surgical rehearsal3.53.8