Real-time bone sawing interaction in orthopedic surgical simulation based on the volumetric object

Bone sawing is widely used for mandibular angle reduction. In this paper, we develop a surgical simulator for mandibular angle reduction with real-time collision detection, bone reconstruction and force haptic. A volume-based model was organized following the CT or MRI image sequence arrangement. The surgical instrument was simplified into two triangles in geometric model. Then, a new volume-based collision detection method was used to meet the real-time requirements of the simulator. Currently, most of the bone sawing operations regarded the swept surface as the real cut surface of bone. Due to the high-speed reciprocating of the bone saw operation, we innovatively used Marching Cubes Method for the real-time reconstruction of the bone internal sawing part and provided the users with a fine cutting surface. In addition, to obtain a well virtual effect, a simplified bone removal and reconstruction method is carried out to implement the real-time topological changing of the mandibular surface. This paper presents a mechanistic model for prediction of the force during bone sawing, and the simulated force is similar to the measured force in real surgery. Eventually, we realized the high quality visual rendering and tactile rendering, the refresh rate of the force reaches 1000 Hz, and visual refresh frequency up to 30 Hz. To validate the effectiveness of the system, some experiments of simulator evaluation based on the patient-specific data was constructed. Results shown that the virtual orthopedic surgical simulation system can provide inexperienced interns and students with a low-cost, repeatable surgical training platform.Graphical Abstract

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