A VR-based training system for practicing biopsies simulates ultrasound imagery by stitching multiple ultrasound volumes on the basis of a 3D scale-invariant feature transform algorithm. In addition, a six-degree-of-freedom force model delivers a realistic haptic rendering of needle insertion.
['Dong Ni', 'Wing Y. Chan', 'Jing Qin', 'Yim-Pan Chui', 'Ingrid Qu', 'Simon S. M. Ho', 'Pheng-Ann Heng']
A Virtual Reality Simulator for Ultrasound-Guided Biopsy Training