Realistic tool-tissue interactive modeling has been recognized as an essential requirement in the training of virtual surgery. A virtual basic surgical training framework integrated with real-time force rendering has been recognized as one of the most immersive implementations in medical education. Yet, compared to the original intraoperative data, there has always been an argument that these data are represented by lower fidelity in virtual surgical training. In this paper, a dynamic biomechanics experimental framework is designed to achieve a highly immersive haptic sensation during the biopsy therapy with human respiratory motion; it is the first time to introduce the idea of periodic extension idea into the dynamic percutaneous force modeling. Clinical evaluation is conducted and performed in the Yunnan First People’s Hospital, which not only demonstrated a higher fitting degree (AVG: 99.36%) with the intraoperation data than previous algorithms (AVG: 87.83%, 72.07%, and 66.70%) but also shows a universal fitting range with multilayer tissue. 27 urologists comprising 18 novices and 9 professors were invited to the VR-based training evaluation based on the proposed haptic rendering solution. Subjective and objective results demonstrated higher performance than the existing benchmark training simulator. Combining these in a systematic approach, tuned with specific fidelity requirements, haptically enabled medical simulation systems would be able to provide a more immersive and effective training environment.

中文翻译：

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使用直接临床数据基于呼吸运动的基于VR的肾活检培训的实时针力建模。

现实的工具-组织交互建模已被视为虚拟手术培训中的基本要求。集成了实时力渲染的虚拟基本外科手术训练框架已被认为是医学教育中最令人身临其境的实现之一。但是，与原始的术中数据相比，一直存在这样的争论，即这些数据在虚拟外科手术训练中表现为较低的保真度。本文设计了一个动态的生物力学实验框架，以在人体呼吸运动的活组织检查治疗过程中实现高度沉浸的触觉。这是第一次将周期性扩展思想引入动态经皮力建模。在云南省第一人民医院进行临床评估，它不仅在术中数据上显示出比以前的算法（AVG：87.83％，72.07％和66.70％）更高的拟合度（AVG：99.36％），而且显示了多层组织的通用拟合范围。基于拟议的触觉渲染解决方案，邀请了27位泌尿科医生组成的基于VR的培训评估，其中包括18位新手和9位教授。主观和客观结果都显示出比现有基准测试模拟器更高的性能。结合具体保真度要求的系统方法，以触觉方式实现的医学模拟系统将能够提供更身临其境且有效的训练环境。70％），但也显示了与多层薄纸的通用贴合范围。基于拟议的触觉渲染解决方案，邀请了27位泌尿科医生组成的基于VR的培训评估，其中包括18位新手和9位教授。主观和客观结果均显示出比现有基准测试模拟器更高的性能。结合具体保真度要求的系统方法，以触觉方式实现的医学模拟系统将能够提供更身临其境且有效的训练环境。70％），但也显示了与多层薄纸的通用贴合范围。基于拟议的触觉渲染解决方案，邀请了27位泌尿科医生组成的基于VR的培训评估，其中包括18位新手和9位教授。主观和客观结果都显示出比现有基准测试模拟器更高的性能。结合具体保真度要求的系统方法，以触觉方式实现的医学模拟系统将能够提供更身临其境且有效的训练环境。