A novel haptic model and environment for maxillofacial surgical operation planning and manipulation

This paper presents a practical method and a new haptic model to support manipulations of bones and their segments during the planning of a surgical operation in a virtual environment using a haptic interface. To perform an effective dental surgery it is important to have all the operation related information of the patient available beforehand in order to plan the operation and avoid any complications. A haptic interface with a virtual and accurate patient model to support the planning of bone cuts is therefore critical, useful and necessary for the surgeons. The system proposed uses DICOM images taken from a digital tomography scanner and creates a mesh model of the filtered skull, from which the jaw bone can be isolated for further use. A novel solution for cutting the bones has been developed and it uses the haptic tool to determine and define the bone-cutting plane in the bone, and this new approach creates three new meshes of the original model. Using this approach the computational power is optimized and a real time feedback can be achieved during all bone manipulations. During the movement of the mesh cutting, a novel friction profile is predefined in the haptical system to simulate the force feedback feel of different densities in the bone

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

Direct fabrication through electron beam melting technology of custom cranial implants designed in a phantom based haptic

Repairing critical human skull injuries requires the production and use of customized cranial implants and involves the integration of computer aided design and manufacturing (CAD and CAM). The main causes for large cranial defects are trauma, cranial tumors, infected craniotomy bone flaps and external neurosurgical decompression. The success of reconstructive cranial surgery depends upon: the preoperative evaluation of the defect, the design and manufacturing of the implant, and the skill of the operating surgeon. Cranial implant design is usually carried out manually using CAD although this process is very time-consuming and the quality of the end product depends wholly upon the skill of the operator. This paper presents an alternative automated method for the design of custom-made cranial plates in a PHANToM \uae-based haptic environment, and their direct fabrication in biocompatible metal using electron beam melting (EBM) technology

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

Finite element modeling and experimentation of bone drilling forces

Bone drilling is an essential part of many orthopaedic surgery procedures, including those for internal fixation and for attaching prosthetics. Estimation and control of bone drilling forces are critical to prevent drill breakthrough, excessive heat generation, and mechanical damage to the bone. This paper presents a 3D finite element (FE) model for prediction of thrust forces experienced during bone drilling. The model incorporates the dynamic characteristics involved in the process along with the accurate geometrical considerations. The average critical thrust forces and torques obtained using FE analysis, for set of machining parameters are found to be in good agreement with the experimental results

The evaluation of a novel haptic machining VR-based process planning system using an original process planning usability method

This thesis provides an original piece of work and contribution to knowledge by creating a new process planning system; Haptic Aided Process Planning (HAPP). This system is based on the combination of haptics and virtual reality (VR). HAPP creates a simulative machining environment where Process plans are automatically generated from the real time logging of a user’s interaction. Further, through the application of a novel usability test methodology, a deeper study of how this approach compares to conventional process planning was undertaken. An abductive research approach was selected and an iterative and incremental development methodology chosen. Three development cycles were undertaken with evaluation studies carried out at the end of each. Each study, the pre-pilot, pilot and industrial, identified progressive refinements to both the usability of HAPP and the usability evaluation method itself. HAPP provided process planners with an environment similar to which they are already familiar. Visual images were used to represent tools and material whilst a haptic interface enabled their movement and positioning by an operator in a manner comparable to their native setting. In this way an intuitive interface was developed that allowed users to plan the machining of parts consisting of features that can be machined on a pillar drill, 21/2D axis milling machine or centre lathe. The planning activities included single or multiple set ups, fixturing and sequencing of cutting operations. The logged information was parsed and output to a process plan including route sheets, operation sheets, tool lists and costing information, in a human readable format. The system evaluation revealed that HAPP, from an expert planners perspective is perceived to be 70% more satisfying to use, 66% more efficient in completing process plans, primarily due to the reduced cognitive load, is more effective producing a higher quality output of information and is 20% more learnable than a traditional process planning approach

Finite element modeling and experimentation of bone drilling forces

Bone drilling is an essential part of many orthopaedic surgery procedures, including those for internal fixation and for attaching prosthetics. Estimation and control of bone drilling forces are critical to prevent drill breakthrough, excessive heat generation, and mechanical damage to the bone. This paper presents a 3D finite element (FE) model for prediction of thrust forces experienced during bone drilling. The model incorporates the dynamic characteristics involved in the process along with the accurate geometrical considerations. The average critical thrust forces and torques obtained using FE analysis, for set of machining parameters are found to be in good agreement with the experimental results

On the development of a new flexible drill for orthopedic surgery and the forces experienced on drilling bovine bone

This article presents the construction of a flexible drill which is designed to cut a curved canal in the bone or remove bone materials, to improve the outcome of orthopedic surgery and to facilitate minimally invasive. This article reports the design of the flexible drill and uses it in an experimental rig to evaluate the drilling force generated when cutting bovine bone. The experiments facilitate the measurement of action forces between the mill bits when moving the tip toward or across a bone sample in various configurations caused by bending the flexible drill sheath to enable cutting of a curved path of variable radius in the bone. The reaction force represents the force trying to deflect the mill bit tip away from the bone sample surface and must be resisted in order to continue cutting without deflection or buckling of the tip during the drilling of curved pathways. The experiment shows the flexible drill can cut bones in both configurations and experienced a maximal force of 3.4N in the vertical configuration and 0.54N in lateral configuration. The experimental results show that the flexible drill designed is able to produce sufficient force at variable bending angles to perform the required tasks for bone cutting