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

Table 8

Fitting results between existing fitting algorithms with clinical data (renal biopsy).

Phase	The fitting degree
Model	1	2	3	4	5	Average
Polynomial	0.6248	0.8738	0.9390	0.9558	0.9980	0.8783
Nonlinear	0.6269	0.8420	0.9365	0.4726	0.7254	0.7207
Exponential	0.4076	0.8548	0.9375	0.3017	0.8331	0.6670
Our method	0.9768	0.9953	0.9991	0.9980	0.9990	0.9936