TY - GEN
T1 - Six degree-of-freedom haptic simulation of periodontal pathological changes
AU - Wang, Dangxiao
AU - Liu, Shuai
AU - Zhang, Xin
AU - Xiao, Jing
AU - Hou, Jianxia
AU - Zhang, Yuru
PY - 2012
Y1 - 2012
N2 - Geometric modeling and haptic simulation of pathological changes is an important topic for high-fidelity surgical simulators. In this paper, we introduce a constraint-based six degree-of-freedom (DOF) haptic simulation method incorporating multi-contact friction. We use this method to simulate periodontal operations on typical pathological tissues, including periodontal pocket and two kinds of calculi. A continuous collision detection method based on sphere-trees is proposed to avoid the pop-through phenomenon during tool manipulation against thin objects (such as small sized calculus adhered to the surface of the target tooth). For particle shaped calculus, a friction model is adapted to simulate decreasing frictions during the removal of the calculus. Experiments using a Phantom Premium 3.0 6DOF were carried out to validate the performance of our method. Stable haptic rendering and about 1 kHz update rate was maintained for all the operations, including depth measurement of the periodontal pocket and removal of the invisible block-shaped and particle-shaped calculi.
AB - Geometric modeling and haptic simulation of pathological changes is an important topic for high-fidelity surgical simulators. In this paper, we introduce a constraint-based six degree-of-freedom (DOF) haptic simulation method incorporating multi-contact friction. We use this method to simulate periodontal operations on typical pathological tissues, including periodontal pocket and two kinds of calculi. A continuous collision detection method based on sphere-trees is proposed to avoid the pop-through phenomenon during tool manipulation against thin objects (such as small sized calculus adhered to the surface of the target tooth). For particle shaped calculus, a friction model is adapted to simulate decreasing frictions during the removal of the calculus. Experiments using a Phantom Premium 3.0 6DOF were carried out to validate the performance of our method. Stable haptic rendering and about 1 kHz update rate was maintained for all the operations, including depth measurement of the periodontal pocket and removal of the invisible block-shaped and particle-shaped calculi.
KW - 6-DOF haptic rendering
KW - calculus removal
KW - continuous collision detection
KW - friction
KW - pathological changes
UR - https://www.scopus.com/pages/publications/84872327777
U2 - 10.1109/IROS.2012.6385539
DO - 10.1109/IROS.2012.6385539
M3 - 会议稿件
AN - SCOPUS:84872327777
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 39
EP - 45
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -