Abstract
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
& 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.
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
& 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.
| Original language | English |
|---|---|
| Pages (from-to) | 227-245 |
| Journal | Journal of Robotics and Automation |
| Volume | 5 |
| Issue number | 1 |
| Publication status | Published - 2021 |