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

Table 7

Fitting results between existing fitting algorithms with experimental data (left kidney).

Phase	The fitting degree
Model	1	2	3	4	5	Average
Polynomial	0.9934	0.6981	0.9573	0.8382	0.9463	0.8867
Nonlinear	0.9863	0.5190	0.9022	0.7791	0.7555	0.7880
Exponential	0.9770	0.5511	0.8644	0.6810	0.9028	0.7953
Our method	0.9975	0.9446	0.9939	0.9936	0.9980	0.9855