Realistic Voxel-Based Method for Haptic Simulation of Bone Machining.pdf

A Physically Realistic Voxel-Based Method for Haptic Simulation of Bone Machining Majid Moghaddam1, Ali Nahvi2, Mohamadreza Arbabtafti1, and Mohsen Mahvash3 1 Tarbiat Modares University, P.O. Box 14115-111, Tehran, Iran 2 K.N. Toosi University of Technology, 322 Mirdamad St., Tehran, Iran 3 Boston University, USA {mogaddam,arbab}@modares.ac.ir,nahvi@kntu.ac.ir,mahvash@bu.edu Abstract. This paper models force of machining a piece of bone by a spherical rotating tool for haptic simulation of bone surgery. The cutting edges of the spherical tool are modeled as a set of infinitesimal cutting ele- ments. Each cutting element in contact with the bone piece undergoes an orthogonal cutting process. The force of cutting is obtained by summing up the forces of each element of the engaged cutting element. The force of each cutting element is related to the size of the chip formed at the bone piece due to a fracture process. The coefficients that relate the chip thickness to the cutting forces are derived from the experimental results. A voxel-based method is developed to simulate chip formation and the force of bone machining. The simulation results show a close force cor- relation between the voxel-based method and an analytical force model at certain loading conditions. This voxel-based method offers a physics- based continuous force model for bone machining. Keywords: Physics-Based Simulation, Bone Surgery Simulation, Haptic Rendering, Voxel-Based Simulation, Volume Interaction. 1 Introduction Bone surgery simulation is a useful and efficient method to train surgeons. Bone surgery performs dissection by removing part of the bone using a series of spher- ical burrs. The main surgical procedures of bone dissection can be categorized into three main groups: otologic surgery, orthognathic surgery, and dentistry. To create realistic surgical simulators, a high-fidelity approach is to calculate forces from physics-based models [1]. A physics-based detailed mechanical description