Six Degree-of Freedom Haptic Rendering for Dental Implantology Simulation

International audienceDental implantology procedures are among the most com- plex surgical procedures executed by dentists. During the critical part of the procedure, the jawbone is drilled at the location of the missing tooth (or the missing group of teeth). This asks for specic skills from the dentists, who need to be well trained. In this paper we present a virtual reality based training system for im- plantology and we mainly focus on the simulation of drilling. We have two main contributions: The rst one is a method for precise haptic rendering of contacts between the drilling tool and the jawbone model issued from a CT-scan. The second one is the real-time simulation of the jawbone erosion during drilling which is compatible with the haptic rendering of contacts

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

A scoping review of the use and application of virtual reality in pre-clinical dental education

Introduction Virtual reality (VR) is gaining recognition as a valuable tool for training dental students and its use by dental schools around the world is growing. It is timely to review the literature relating to the use of VR in dental education, in order to ensure that educators are well-informed of current areas of inquiry, and those requiring further investigation, to enable appropriate decisions about whether to employ VR as a teaching tool. Method A scoping review using the method outlined by Arksey and O'Malley was conducted. Both Web of Science and ERIC databases were searched. Inclusion and exclusion criteria were established to filter results. The data were collected and categorised using a custom data collection spreadsheet. Results The review identified 68 relevant articles. Following review, four educational thematic areas relating to the 'simulation hardware', the 'realism of the simulation', 'scoring systems' and 'validation' of the systems emerged. Conclusion This paper summarises and draws out themes from the current areas of inquiry in the literature, uncovering a number of weaknesses and assumptions. It recommends areas where additional investigation is required in order to form a better evidence base for the utility of VR in dental education, as well as to inform its future development

Real-time hybrid cutting with dynamic fluid visualization for virtual surgery

It is widely accepted that a reform in medical teaching must be made to meet today's high volume training requirements. Virtual simulation offers a potential method of providing such trainings and some current medical training simulations integrate haptic and visual feedback to enhance procedure learning. The purpose of this project is to explore the capability of Virtual Reality (VR) technology to develop a training simulator for surgical cutting and bleeding in a general surgery

Isosurface extraction and haptic rendering of volumetric data.

Kwong-Wai, Chen.Thesis (M.Phil.)--Chinese University of Hong Kong, 2000.Includes bibliographical references (leaves 114-118).Abstracts in English and Chinese.Abstract --- p.iAcknowledgments --- p.iiiChapter 1 --- Introduction --- p.1Chapter 1.1 --- Volumetric Data --- p.1Chapter 1.2 --- Volume Visualization --- p.4Chapter 1.3 --- Thesis Contributions --- p.5Chapter 1.4 --- Thesis Outline --- p.6Chapter I --- Multi-body Surface Extraction --- p.8Chapter 2 --- Isosurface Extraction --- p.9Chapter 2.1 --- Previous Works --- p.10Chapter 2.1.1 --- Marching Cubes --- p.10Chapter 2.1.2 --- Skeleton Climbing --- p.12Chapter 2.1.3 --- Adaptive Skeleton Climbing --- p.14Chapter 2.2 --- Motivation --- p.17Chapter 3 --- Multi-body Surface Extraction --- p.19Chapter 3.1 --- Multi-body Surface --- p.19Chapter 3.2 --- Building 0-skeleton --- p.21Chapter 3.3 --- Building 1-skeleton --- p.23Chapter 3.3.1 --- Non-binary Faces --- p.24Chapter 3.3.2 --- Non-binary Cubes --- p.30Chapter 3.4 --- General Scheme for Messy Cubes --- p.33Chapter 3.4.1 --- Graph Reduction --- p.34Chapter 3.4.2 --- Position of the Tetrapoints --- p.36Chapter 3.5 --- Triangular Mesh Generation --- p.37Chapter 3.5.1 --- Generating the Edge Loops --- p.38Chapter 3.5.2 --- Triangulating the Edge Loops --- p.41Chapter 3.5.3 --- Incorporating with Adaptive Skeleton Climbing --- p.43Chapter 3.6 --- Implementation and Results --- p.45Chapter II --- Haptic Rendering of Volumetric Data --- p.60Chapter 4 --- Introduction to Haptics --- p.61Chapter 4.1 --- Terminology --- p.62Chapter 4.2 --- Haptic Rendering Process --- p.63Chapter 4.2.1 --- The Overall Process --- p.64Chapter 4.2.2 --- Force Profile --- p.65Chapter 4.2.3 --- Decoupling Processes --- p.66Chapter 4.3 --- The PHANToM´ёØ Haptic Interface --- p.67Chapter 4.4 --- Research Goals --- p.69Chapter 5 --- Haptic Rendering of Geometric Models --- p.70Chapter 5.1 --- Penalty Based Methods --- p.71Chapter 5.1.1 --- Vector Fields for Solid Objects --- p.71Chapter 5.1.2 --- Drawbacks of Penalty Based Methods --- p.72Chapter 5.2 --- Constraint Based Methods --- p.73Chapter 5.2.1 --- Virtual Haptic Interface Point --- p.73Chapter 5.2.2 --- The Constraints --- p.74Chapter 5.2.3 --- Location Computation --- p.78Chapter 5.2.4 --- Force Shading --- p.79Chapter 5.2.5 --- Adding Surface Properties --- p.80Chapter 6 --- Haptic Rendering of Volumetric Data --- p.83Chapter 6.1 --- Volume Haptization --- p.84Chapter 6.2 --- Isosurface Haptic Rendering --- p.86Chapter 6.3 --- Intermediate Representation Approach --- p.89Chapter 6.3.1 --- Introduction --- p.89Chapter 6.3.2 --- Intermediate Virtual Plane --- p.90Chapter 6.3.3 --- Updating Virtual Plane --- p.92Chapter 6.3.4 --- Preventing Force Discontinuity Artifacts --- p.93Chapter 6.3.5 --- Experiments and Results --- p.94Chapter 7 --- Conclusions and Future Research Directions --- p.98Chapter 7.1 --- Conclusions --- p.98Chapter 7.2 --- Future Research Directions --- p.99Chapter A --- Two Proofs of Multi-body Surface Extraction Algorithm --- p.101Chapter A.1 --- Graph Terminology and Theorems --- p.101Chapter A.2 --- Occurrence of Tripoints in Negative-Positive Pairs --- p.103Chapter A.3 --- Validity of the General Scheme --- p.103Chapter B --- An Example of Multi-body Surface Extraction Algorithm --- p.105Chapter B.1 --- Step 1: Building 0-Skeleton --- p.105Chapter B.2 --- Step 2: Building 1-Skeleton --- p.106Chapter B.2.1 --- Step 2a: Building 1-Skeleton and Tripoints on Cube Faces --- p.106Chapter B.2.2 --- Step 2b: Adding Tetrapoints and Tri-edges inside Cube --- p.106Chapter B.3 --- Step 3: Constructing Edge Loops and Triangulating --- p.109Bibliography --- p.11

Virtual Reality Simulation of Glenoid Reaming Procedure

Glenoid reaming is a bone machining operation in Total Shoulder Arthroplasty (TSA) in which the glenoid bone is resurfaced to make intimate contact with implant undersurface. While this step is crucial for the longevity of TSA, many surgeons find it technically challenging. With the recent advances in Virtual Reality (VR) simulations, it has become possible to realistically replicate complicated operations without any need for patients or cadavers, and at the same time, provide quantitative feedback to improve surgeons\u27 psycho-motor skills. In light of these advantages, the current thesis intends to develop tools and methods required for construction of a VR simulator for glenoid reaming, in an attempt to construct a reliable tool for preoperative training and planning for surgeons involved with TSA. Towards the end, this thesis presents computational algorithms to appropriately represent surgery tool and bone in the VR environment, determine their intersection and compute realistic haptic feedback based on the intersections. The core of the computations is constituted by sampled geometrical representations of both objects. In particular, point cloud model of the tool and voxelized model of bone - that is derived from Computed Tomography (CT) images - are employed. The thesis shows how to efficiently construct these models and adequately represent them in memory. It also elucidates how to effectively use these models to rapidly determine tool-bone collisions and account for bone removal momentarily. Furthermore, the thesis applies cadaveric experimental data to study the mechanics of glenoid reaming and proposes a realistic model for haptic computations. The proposed model integrates well with the developed computational tools, enabling real-time haptic and graphic simulation of glenoid reaming. Throughout the thesis, a particular emphasis is placed upon computational efficiency, especially on the use of parallel computing using Graphics Processing Units (GPUs). Extensive implementation results are also presented to verify the effectiveness of the developments. Not only do the results of this thesis advance the knowledge in the simulation of glenoid reaming, but they also rigorously contribute to the broader area of surgery simulation, and can serve as a step forward to the wider implementation of VR technology in surgeon training programs

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

Multidimensional transfer functions for interactive volume rendering

Journal ArticleAbstract-Most direct volume renderings produced today employ one-dimensional transfer functions which assign color and opacity to the volume based solely on the single scalar quantity which comprises the data set. Though they have not received widespread attention, multidimensional transfer functions are a very effective way to extract materials and their boundaries for both scalar and multivariate data. However, identifying good transfer functions is difficult enough in one dimension, let alone two or three dimensions. This paper demonstrates an important class of three-dimensional transfer functions for scalar data, and describes the application of multidimensional transfer functions to multivariate data. We present a set of direct manipulation widgets that make specifying such transfer functions intuitive and convenient. We also describe how to use modern graphics hardware to both interactively render with multidimensional transfer functions and to provide interactive shadows for volumes. The transfer functions, widgets, and hardware combine to form a powerful system for interactive volume exploration

Haptic Enhancement of Sensorimotor Learning for Clinical Training Applications

Modern surgical training requires radical change with the advent of increasingly complex procedures, restricted working hours, and reduced ‘hands-on’ training in the operating theatre. Moreover, an increased focus on patient safety means there is a greater need to objectively measure proficiency in trainee surgeons. Indeed, the existing evidence suggests that surgical sensorimotor skill training is not adequate for modern surgery. This calls for new training methodologies which can increase the acquisition rate of sensorimotor skill. Haptic interventions offer one exciting possible avenue for enhancing surgical skills in a safe environment. Nevertheless, the best approach for implementing novel training methodologies involving haptic intervention within existing clinical training curricula has yet to be determined. This thesis set out to address this issue. In Chapter 2, the development of two novel tools which enable the implementation of bespoke visuohaptic environments within robust experimental protocols is described. Chapters 3 and 4 report the effects of intensive, long-term training on the acquisition of a compliance discrimination skill. The results indicate that active behaviour is intrinsically linked to compliance perception, and that long-term training can help to improve the ability of detecting compliance differences. Chapter 5 explores the effects of error augmentation and parameter space exploration on the learning of a complex novel task. The results indicate that error augmentation can help improve learning rate, and that physical workspace exploration may be a driver for motor learning. This research is a first step towards the design of objective haptic intervention strategies to help support the rapid acquisition of sensorimotor skill. The work has applications in clinical settings such as surgical training, dentistry and physical rehabilitation, as well as other areas such as sport