A Mechanistic Force Model for Simulating Haptics of Hand-Held Bone Burring Operations

The research presented in the thesis is concentrated on developing a mechanistic model to predict the forces experienced during bone burring with application to haptic feedback for virtual reality surgical simulations. This model can be used in haptic devices to provide haptic feedback for virtual reality (VR) surgical simulations. The model is developed based on the understanding of the force profile recorded in the experiments. To determine the force produced under various cutting orientations, experiments are conducted using a surgical burr on a synthetic bone. The total force experienced in bone burring can be understood as a combination of resistive force and vibrational force. The resistive force is calculated using the concept of the specific cutting energy of the bone material. The specific cutting energy (Us) is a concept adopted from the mechanics of grinding. Data from the experiments is used to calibrate the specific cutting energy of the material. The vibrational force is developed as an empirical component of the coupled model. Comparisons between the experimentally measured force data and the force profile predicted by the model show a similar trend. Results confirm that the proposed model is capable of effectively predicting the haptics in bone burring, specifically with the abrasive type of burr

Modeling and rendering for development of a virtual bone surgery system

A virtual bone surgery system is developed to provide the potential of a realistic, safe, and controllable environment for surgical education. It can be used for training in orthopedic surgery, as well as for planning and rehearsal of bone surgery procedures...Using the developed system, the user can perform virtual bone surgery by simultaneously seeing bone material removal through a graphic display device, feeling the force via a haptic deice, and hearing the sound of tool-bone interaction --Abstract, page iii

Thermal damage done to bone by burring and sawing with and without irrigation in knee arthroplasty

Heat from bone resecting tools used in knee surgery can induce thermal osteonecrosis, potentially causing aseptic implant loosening. This study compared oscillating saws to burrs in terms of temperature generation and histologic damage. Use of irrigation to reduce bone temperature was also investigated. Temperatures were recorded during sawing and burring with or without irrigation (uncooled or cooled). Histologic analyses were then carried out. Differences between groups were tested statistically (α = 0.05). On average, burring produced higher temperatures than sawing (P < .001). When uncooled irrigation was used, bone temperatures were significantly lower in sawed bone than in burred bone (P < .001). Irrigation lowered temperatures and thermal damage depths and increased osteocyte viability (P < .001). These results suggest that irrigating bone during resection could prevent osteonecrosis onset

An investigation of haptic modelling for oral and maxillofacial surgical training and planning

This research investigates a haptic modelling approach where high resolutions are required for sensibility of force feedback in a target application - dental surgical operations. In particular the research focus is on maxillofacial deformity operations. The main aim of the research is to increase the realism of a computer model based simulation system that allows dental students and surgeons to feel like as if they were carrying out a real dental surgery procedure. A haptic framework has been designed and implemented to demonstrate its suitability to achieve the above aim. A generic set of jaw bone models have been developed and validated by collaborating surgeon from Glasgow University Dental Hospital &amp; School. The model can be customized and obtained for each specific patient. A chosen model can be used to control the force feedback generated by a haptic device in order to give a realistic force feedback representation and experience for a user. This meets the requirements of the targeted dental operations. The simulation model is constructed based on force calculation model, which include the consideration of mechanical properties of bones, cutting tools used and region of cut. This haptical jaw bone model has been generalised based on a contact mechanic model Hertz's equation and is used as the driving haptical model for the study. Using a haptic device as a controller, a user can perform relevant operations, such as cutting procedure and manipulating bone segments from the virtual jaw bone model. The paper describes a frame work for a haptic assisted surgical plan (HASP) for surgical planning of dentofacial deformities. The haptic system generates the corresponding force feedback to a user as in a real world operation. It is planed that validation and feedback experiments will be conducted with dental students and surgeons to assess the effectiveness of the system in providing assistance for oral and maxillofacial surgical planning and training

Intuitive Robot Teleoperation Based on Haptic Feedback and 3D Visualization

Robots are required in many jobs. The jobs related to tele-operation may be very challenging and often require reaching a destination quickly and with minimum collisions. In order to succeed in these jobs, human operators are asked to tele-operate a robot manually through a user interface. The design of a user interface and of the information provided in it, become therefore critical elements for the successful completion of robot tele-operation tasks. Effective and timely robot tele-navigation mainly relies on the intuitiveness provided by the interface and on the richness and presentation of the feedback given. This project investigated the use of both haptic and visual feedbacks in a user interface for robot tele-navigation. The aim was to overcome some of the limitations observed in a state of the art works, turning what is sometimes described as contrasting into an added value to improve tele-navigation performance. The key issue is to combine different human sensory modalities in a coherent way and to benefit from 3-D vision too. The proposed new approach was inspired by how visually impaired people use walking sticks to navigate. Haptic feedback may provide helpful input to a user to comprehend distances to surrounding obstacles and information about the obstacle distribution. This was proposed to be achieved entirely relying on on-board range sensors, and by processing this input through a simple scheme that regulates magnitude and direction of the environmental force-feedback provided to the haptic device. A specific algorithm was also used to render the distribution of very close objects to provide appropriate touch sensations. Scene visualization was provided by the system and it was shown to a user coherently to haptic sensation. Different visualization configurations, from multi-viewpoint observation to 3-D visualization, were proposed and rigorously assessed through experimentations, to understand the advantages of the proposed approach and performance variations among different 3-D display technologies. Over twenty users were invited to participate in a usability study composed by two major experiments. The first experiment focused on a comparison between the proposed haptic-feedback strategy and a typical state of the art approach. It included testing with a multi-viewpoint visual observation. The second experiment investigated the performance of the proposed haptic-feedback strategy when combined with three different stereoscopic-3D visualization technologies. The results from the experiments were encouraging and showed good performance with the proposed approach and an improvement over literature approaches to haptic feedback in robot tele-operation. It was also demonstrated that 3-D visualization can be beneficial for robot tele-navigation and it will not contrast with haptic feedback if it is properly aligned to it. Performance may vary with different 3-D visualization technologies, which is also discussed in the presented work

Investigation of 3DP technology for fabrication of surgical simulation phantoms

The demand for affordable and realistic phantoms for training, in particular for functional endoscopic sinus surgery (FESS), has continuously increased in recent years. Conventional training methods, such as current physical models, virtual simulators and cadavers may have restrictions, including fidelity, accessibility, cost and ethics. In this investigation, the potential of three-dimensional printing for the manufacture of biologically representative simulation materials for surgery training phantoms has been investigated. A characterisation of sinus anatomical elements was performed through CT and micro-CT scanning of a cadaveric sinus portion. In particular, the relevant constituent tissues of each sinus region have been determined. Secondly, feedback force values experienced during surgical cutting have been quantified with an actual surgical instrument, specifically modified for this purpose. Force values from multiple post-mortem subjects and different areas of the paranasal sinuses have been gathered and used as a benchmark for the optimisation of 3D-printing materials. The research has explored the wide range of properties achievable in 3DP through post-processing methods and variation of printing parameters. For this latter element, a machine-vision system has been developed to monitor the 3DP in real time. The combination of different infiltrants allowed the reproduction of force values comparable to those registered from cadaveric human tissue. The internal characteristics of 3D printed samples were shown to influence their fracture behaviour under resection. Realistic appearance under endoscopic conditions has also been confirmed. The utilisation of some of the research has also been demonstrated in another medical (non-surgical) training application. This investigation highlights a number of capabilities, and also limitations, of 3DP for the manufacturing of representative materials for application in surgical training phantoms

The Sampling of Bodily Sound in Contemporary Composition: towards an embodied analysis

Full version unavailable due to 3rd party copyright restrictions.The listener’s experience as an embodied subject is at the centre of this work. Embodied experience forms the basis for analyses of three contemporary compositions that sample bodily sound, in order to question how such works represent and mediate the body. The possible applications of this embodied methodology are illustrated through three case studies: Crackers by Christof Migone (2001), A Chance to Cut is a Chance to Cure by Matmos (2001) and Ground Techniques (2009) by Neil Luck. The findings of each analysis are placed within discussion of critical and theoretical concerns related to the (re)presentation, mediation and manipulation of the body both as materiality and as social construct, using, in particular, work by Hansen (2004) and Wegenstein (2006). The sampling practices of these works lead to the fragmentation of the represented bodies, in which margins between bodily interiors and exteriors are frequently crossed, bringing about a reconfiguration of the musical subject. Furthermore, the celebration of the bodily origins of these works complicates notions of recorded sound as disembodied. The analytical methodology developed in this thesis derives from a consideration of approaches in a number of fields: feminist musicology, music psychology, embodied cognition, phenomenology, music and gesture and new media theory. The sensations and affective responses of the listening body are discussed alongside an examination of how listening is shaped by processes of technological mediation. This thesis attends to both the body that is listening and the body that is listened to. I argue that it is not adequate to understand the works studied as merely representing the body, but suggest it would be more appropriate to understand the relationship between work and body as multi-faceted, conceptualising the body and recorded sound as mutually framing. This uncovers not only technology as mediation, but also the body as mediation. Finally, the case studies are used to reflect upon the limits of the embodied analysis methodology and its potential for wider application.This study was part-financed with the aid of a studentship from University College Falmouth and a grant from The Sir Richard Stapley Educational Trust

impulse-based rendering methods for haptic simulation of bone-burring

Bone-burring is a common procedure in orthopedic, dental, and otologic surgeries. Virtual reality (VR)-based surgical simulations with both visual and haptic feedbacks provide novice surgeons with a feasible and safe way to practice their burring skill. However, creating realistic haptic interactions between a high-speed rotary burr and stiff bone is a challenging task. In this paper, we propose a novel interactive haptic bone-burring model based on impulse-based dynamics to simulate the contact forces, including resistant and frictional forces. In order to mimic the lateral and axial burring vibration forces, a 3D vibration model has been developed. A prototype haptic simulation system for the bone-burring procedure has been implemented to evaluate the proposed haptic rendering methods. Several experiments of force evaluations and task-oriented tests were conducted on the prototype system. The results demonstrate the validity and feasibility of the proposed methods.NSFC/RGC Joint Research Scheme; Council of Hong Kong; National Natural Science Foundation of China NCUHK409/09, 60931160441; NSFC 60703120, 61135003; National Fundamental Research Grant of Science and Technology (973 Project) 2009CB320804; University of Macau MYRG150(Y1-L2)-FST11-WWBone-burring is a common procedure in orthopedic, dental, and otologic surgeries. Virtual reality (VR)-based surgical simulations with both visual and haptic feedbacks provide novice surgeons with a feasible and safe way to practice their burring skill. However, creating realistic haptic interactions between a high-speed rotary burr and stiff bone is a challenging task. In this paper, we propose a novel interactive haptic bone-burring model based on impulse-based dynamics to simulate the contact forces, including resistant and frictional forces. In order to mimic the lateral and axial burring vibration forces, a 3D vibration model has been developed. A prototype haptic simulation system for the bone-burring procedure has been implemented to evaluate the proposed haptic rendering methods. Several experiments of force evaluations and task-oriented tests were conducted on the prototype system. The results demonstrate the validity and feasibility of the proposed methods