Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385539 | IROS |
Keywords | Field | DocType |
six degree-of-freedom haptic simulation,calculus removal,friction,6-dof haptic rendering,block-shaped calculi,periodontal pathological changes,periodontal pocket,phantom premium 3.0 6dof,friction model,particle-shaped calculi,dentistry,thin objects,pathological tissues,digital simulation,pop-through phenomenon,continuous collision detection method,haptic interfaces,geometric modeling,tool manipulation,medical computing,continuous collision detection,periodontal operations,process algebra,multicontact friction,surgery,sphere-trees,pathological changes,calculus,force,solid modeling,teeth,graphics | Degrees of freedom (statistics),Computer science,Imaging phantom,Control engineering,Artificial intelligence,Process calculus,Haptic technology,Graphics,Computer vision,Collision detection,Simulation,Geometric modeling,Solid modeling | Conference |
Volume | Issue | ISSN |
null | null | 2153-0858 |
ISBN | Citations | PageRank |
978-1-4673-1737-5 | 3 | 0.43 |
References | Authors | |
8 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dangxiao Wang | 1 | 196 | 34.02 |
| Shuai Liu | 2 | 3 | 0.43 |
| Xin Zhang | 3 | 10 | 1.28 |
| Jing Xiao | 4 | 169 | 12.49 |
| Jianxia Hou | 5 | 22 | 1.90 |
| Yuru Zhang | 6 | 253 | 44.66 |