Virtual reality haptic simulation of root canal therapy

Here we report a haptic virtual reality simulator for root canal treatment (endodontic procedures). A virtual jaw model was extracted from CT data of a live patient and the volumetric data obtained were visualized using a Marching Cubes algorithm. Collision detection and collision response algorithms were developed using a voxel-based approach. Removal of bone was visualized using a modified real-time Marching Cubes method and deformation of the K-files in the internal surface of tooth canal was simulated haptically and graphically using OpenGL and HDAPI of OpenHaptics Libraries. Using a haptic robot (Omni Phantom) the user can burr the enamel and dentin until reaching the pulp chamber and then the internal surface of a root canal can be cleaned using a simulated K-file