VOXEL-BASED INTERACTIVE HAPTIC SIMULATION OF DENTAL DRILLING

Haptics is one of the most important sensations for dentists to prepare cavity in dental surgery, which is however not easy to simulate in a computer system because of the large drilling force and the small speed of movement and material removal. In this paper, we present a fully voxel-based approach to interactively simulate dental drilling. Different from those voxel/mesh hybrid models, the drilling forces are computed directly from the voxel-representation while considering the factors of teeth’s material properties, the posture and forward speed of dentist’s drill and the contact surface area. To overcome force discontinuity caused by removal of tooth material, we define two layers of voxels on drill, where the boundary voxels are only employed to compute force feedback and the interior voxels are adopted to remove materials from teeth. The experimental result shows that our force model can produce smooth and large force feedback at a slow movement on haptic devices. Other than haptic rendering, a real-time filtering method directly using voxel representation has also been developed to improve visual rendering in dental simulation.Copyright © 2009 by ASME

[1]  Ricardo S. Avila,et al.  A haptic interaction method for volume visualization , 1996, Proceedings of Seventh Annual IEEE Visualization '96.

[2]  Oussama Khatib,et al.  DYNAMIC MODELS FOR HAPTIC RENDERING SYSTEMS , 1998 .

[3]  Hong Qin,et al.  Virtual clay: a real-time sculpting system with haptic toolkits , 2001, I3D '01.

[4]  Karl Heinz Höhne,et al.  Haptic volume interaction with anatomic models at sub-voxel resolution , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[5]  Frédo Durand,et al.  Non-iterative, feature-preserving mesh smoothing , 2003, ACM Trans. Graph..

[6]  Hideo Fujimoto,et al.  A dental training system using virtual reality , 2003, Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694).

[7]  Andrea Giachetti,et al.  Real-Time Haptic and Visual Simulation of Bone Dissection , 2002, Presence: Teleoperators & Virtual Environments.

[8]  John Kenneth Salisbury,et al.  Haptic Rendering: Introductory Concepts , 2004, IEEE Computer Graphics and Applications.

[9]  Leif Kobbelt,et al.  A survey of point-based techniques in computer graphics , 2004, Comput. Graph..

[10]  James J. Troy,et al.  Six degree-of-freedom haptic rendering using voxel sampling , 1999, SIGGRAPH.

[11]  Wenping Wang,et al.  Feature-preserving mesh denoising via bilateral normal filtering , 2005, Ninth International Conference on Computer Aided Design and Computer Graphics (CAD-CG'05).

[12]  Yuan-Shin Lee,et al.  Cutting on triangle mesh: local model-based haptic display for dental preparation surgery simulation , 2005, IEEE Transactions on Visualization and Computer Graphics.

[13]  John Kenneth Salisbury,et al.  Visuohaptic simulation of bone surgery for training and evaluation , 2006, IEEE Computer Graphics and Applications.

[14]  Laehyun Kim,et al.  Haptic interaction and volume modeling techniques for realistic dental simulation , 2006, The Visual Computer.

[15]  Ioannis Pitas,et al.  Virtual Dental Patient: a System for Virtual Teeth Drilling , 2006, 2006 IEEE International Conference on Multimedia and Expo.

[16]  Alan Liu,et al.  Real-time Volumetric Haptic and Visual Burrhole Simulation , 2007, 2007 IEEE Virtual Reality Conference.