Haptic rendering algorithm based on discrete energy optimization method of preparation of human tooth

Fidelity and stability are two keys of performance of virtual reality haptic interaction system. In virtual reality haptic interaction system of dental preparation, force acting on dentist who receives training is a key factor of training effect. Volumetric model of human tooth was constructed based on laser scanning data and tetrahedral division of tooth model was implemented. A method to calculate cutting force was proposed by combining empirical formula and experimental data. Optimum haptic rendering algorithm was studied to guaranteeing fidelity and stability of that haptic system. In order to solve the contradiction between fidelity and stability, haptic rendering algorithm based on discrete energy optimization algorithm was proposed. That algorithm processed force series with constant time difference. As a result, optimized cutting force signals between fidelity and stability were obtained. Experimental results show that this algorithm restrains vibration in high frequency of haptic device. Performances of human machine interactive haptic dental training system are improved.