Haptic bone drilling interaction based on a mechanistic model

Haptic drilling simulation is important but challenging in a virtual orthopedic operations training system. A mechanistic force model is proposed to realize the bone drilling haptic interaction, which can realistically predict the thrust force, radius force and tang force. This detailed model describes the cutting action at the drill area and divided it into three parts: forces on the cutting lips, inner portion of the chisel edge and outer portion of the chisel edge. We optimally modeled the drillbit geometry and experimental results demonstrate that our method can provide effective and stable simulating forces that could be used in the surgical training and rehearsal.