0
Research Papers

Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery

[+] Author and Article Information
Fei Zheng

e-mail: zhengfei@nus.edu.sg

Wen Feng Lu

e-mail: mpelwf@nus.edu.sg

Yoke San Wong

e-mail: mpewys@nus.edu.sg
Department of Mechanical Engineering,
National University of Singapore,
9 Engineering Drive 1,
Block EA,
Singapore 117576, Singapore

Kelvin Weng Chiong Foong

Faculty of Dentistry,
National University of Singapore,
21 Lower Kent Ridge Road,
Singapore 119083, Singapore
e-mail: kelvinfoong@nuhs.edu.sg

Contributed by the Computers and Information Division of ASME for publication in the JOURNAL OF COMPUTERS AND INFORMATION DIVISION IN ENGINEERING. Manuscript received November 6, 2012; final manuscript received June 26, 2013; published online September 12, 2013. Assoc. Editor: Krishnan Suresh.

J. Comput. Inf. Sci. Eng 13(4), 041005 (Sep 12, 2013) (9 pages) Paper No: JCISE-12-1203; doi: 10.1115/1.4024972 History: Received November 06, 2012; Revised June 26, 2013

This paper presents a haptics-based training simulator for dental implant surgery. Most of the previously developed dental simulators are targeted for exploring and drilling purpose only. The penalty-based contact force models with spherical-shaped dental tools are often adopted for simplicity and computational efficiency. In contrast, our simulator is equipped with a more precise force model adapted from the Voxmap-PointShell (VPS) method to capture the essential features of the drilling procedure, with no limitations on drill shape. In addition, a real-time torque model is proposed to simulate the torque resistance in the implant insertion procedure, based on patient-specific tissue properties and implant geometry. To achieve better anatomical accuracy, our oral model is reconstructed from cone beam computed tomography (CBCT) images with a voxel-based method. To enhance the real-time response, the parallel computing power of GPUs is exploited through extra efforts in data structure design, algorithms parallelization, and graphic memory utilization. Results show that the developed system can produce appropriate force feedback at different tissue layers during pilot drilling and can create proper resistance torque responses during implant insertion.

FIGURES IN THIS ARTICLE
<>
Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.

References

Wang, D., Yuru, Z., Yuhui, W., Lee, Y. S., L.Peijun, and Yong, W., 2005, “Cutting on Triangle Mesh: Local Model-Based Haptic Display for Dental Preparation Surgery Simulation,” IEEE Trans. Vis. Comput. Graph., 11, pp. 671–683. [CrossRef]
Rhienmora, P., Haddawy, P., Dailey, M. N., Khanal, P., and Suebnukarn, S., 2008, “Development of a Dental Skills Training Simulator Using Virtual Reality and Haptic Device,” NECTEC Tech. J., 8, pp. 140–147.
Cho, J. H., Jung, H., Yu, I., Lee, K., Lee, D. Y., Ahn, H. S., Park, I., Yeo, S. H., and Han, S.-H., 2007, “Surface-Data-Based Haptic Rendering for Simulation of Surgery of Closed Reduction and Internal Fixation,” Lyon, France, pp.210–213.
Esen, H., Yano, K. I., and Buss, M., 2008, “Bone Drilling Medical Training System,” Springer Tracts in Advanced Robotics, Vol. 45, STAR, pp. 245–278.
Luciano, C., Banerjee, P., and DeFenti, T., 2009, “Haptics-Based Virtual Reality Periodontal Training Simulator,” Virtual Reality, 13, pp. 69–85. [CrossRef]
Heiland, M., Petersik, A., Pflesser, B., Tiede, U., Schmelzle, R., Höhne, K. H., and Handels, H., 2004, “Realistic Haptic Interaction for Computer Simulation of Dental Surgery,” Int. Congr. Ser., 1268, pp. 1226–1229. [CrossRef]
Wu, J., Yu, G., Wang, D., Zhang, Y., and Wang, C. C. L., “Voxel-Based Interactive Haptic Simulation of Dental Drilling,” San Diego, CA, pp. 39–48.
Yau, H. T., Tsou, L. S., and Tsai, M. J., 2006, “Octree-Based Virtual Dental Training System With a Haptic Device,” Comput.-Aided Des. Appl., 3, pp. 415–424.
Kim, K., Park, Y.-S., and Park, J., 2008, “Volume-Based Haptic Model for Bone-Drilling,” Piscataway, NJ, pp. 255–259.
He, X., and Chen, Y., 2006, “Bone Drilling Simulation Based on Six Degree-of-Freedom Haptic Rendering,” Euro-Haptics, Paris, France, pp. 203–210.
Acosta, E., and Liu, A., 2007, “Real-Time Volumetric Haptic and Visual Burrhole Simulation,” Charlotte, NC, pp. 247–250.
Morris, D., Sewell, C., Barbagli, F., Salisbury, K., Blevins, N. H., and Girod, S., 2006, “Visuohaptic Simulation of Bone Surgery for Training and Evaluation,” IEEE Comput. Graph. Appl., 26, pp. 48–57. [CrossRef]
Agus, M., Giachetti, A., Gobbetti, E., Zanetti, G., and Zorcollo, A., 2003, “Real-Time Haptic and Visual Simulation of Bone Dissection,” Presence, 12, pp. 110–122. [CrossRef]
Kim, L., and Park, S. H., 2006, “Haptic Interaction and Volume Modeling Techniques for Realistic Dental Simulation,” Vis. Comput., 22, pp. 90–98. [CrossRef]
McNeely, W. A., Puterbaugh, K. D., and Troy, J. J., 1999, “Six Degree-of-Freedom Haptic Rendering Using Voxel Sampling,” New York, NY, pp. 401–408.
Renz, M., Preusche, C., Pötke, M., Kriegel, H.-P., and Hirzinger, G., 2001, “Stable Haptic Interaction With Virtual Environments Using an Adapted Voxmap-Pointshell Algorithm,” Eurohaptics, pp. 149–154.
Majewicz, A., Glasser, J., Bauer, R., Belkoff, S. M., Mears, S. C., and Okamura, A. M., 2010, “Design of a Haptic Simulator for Osteosynthesis Screw Insertion,” 2010 IEEE Haptics Symposium (Formerly Known as Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems), March 25–26, Piscataway, NJ, pp. 497–500.
Nvidia, 2010, “NVIDIA CUDA Programming Guide, Version 3.0.”
Lorensen, W. E., and Cline, H. E., 1987, “Marching Cubes: A High Resolution 3D Surface Construction Algorithm,” Comput. Graph. (ACM), 21, pp. 163–169. [CrossRef]
Zheng, F., Lu, W. F., and Wong, Y. S., 2011, “Voxel-Based Haptic Training Simulator for Screw Insertion in Knee Osteotomy,” Automation, Robotics and Applications (ICARA), pp. 179–183.
Zheng, F., Lu, W. F., Wong, Y. S., and Foong, K. W. C., 2011, “GPU-Based Haptic Simulator for Dental Bone Drilling,” ASME Conference Proceedings, pp. 1419–1428.
Meagher, D., 1982, “Geometric Modeling Using Octree Encoding,” Comput. Graph. and Image Process., 19(2), pp. 129–147. [CrossRef]
Thomas, R. L., Bouazza-Marouf, K., and Taylor, G. J., 2008, “Automated Surgical Screwdriver: Automated Screw Placement,” Proc. Inst. Mech. Eng., Part H: J. Eng. Med., 222, pp. 817–827. [CrossRef]

Figures

Grahic Jump Location
Fig. 2

A voxel cell and its nodes

Grahic Jump Location
Fig. 3

Illustration of force model

Grahic Jump Location
Fig. 4

State transitions of torque modes

Grahic Jump Location
Fig. 5

Illustration of torque model

Grahic Jump Location
Fig. 6

Flowchart of the force computation kernel

Grahic Jump Location
Fig. 7

The top-down collision detection algorithm

Grahic Jump Location
Fig. 8

Force integration based on reduction tree

Grahic Jump Location
Fig. 9

Graphic rendering results: (a) ROI selection; (b) real-time interaction during drilling; (c) penetration of the maxillary sinus; and (d) real-time interaction during implant insertion

Grahic Jump Location
Fig. 10

Haptic rendering results of drilling forces

Grahic Jump Location
Fig. 11

Haptic rendering results of resistance torques

Grahic Jump Location
Fig. 12

Performance comparison between CPU and GPU

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In