Voxel-Based Virtual Bone Drilling Force Feedback Simulation And Implementation

Bone drilling is a common and important operation in surgery,but this operation is risky and requires a high level of operation for doctors.Orthopaedics doctors must master the precise operation feel gradually with surgical training before they can operate on patients.Compared with the traditional training method of experimenting with cadavers,animals and even patients,virtual surgery training has the advantages of safety,efficiency and flexibility,which provides a new way for doctors to improve their surgical skills.The key part of virtual surgery training is to provide the trainees with accurate virtual drilling force haptics and real-time haptic interaction.This study is focus on solving this problem and design a virtual drilling training system to help young doctors to carry out surgical training: Through theoretical analysis,finite element simulation and experimental analysis of the drilling process,the relationship between the drilling force and the main influencing factors was determined,and the prediction model of the drilling force about bone density,spindle speed and feed rate was obtained.Considering of the heterogeneity of bone tissue,a bone tissue model with independent voxel characteristics related to bone density was established.Based on this model,fast collision detection and voxel removal algorithms were designed to ensure the accuracy and stability of the feedback force in the virtual drilling process.When drilling operation is going on,the system reads the spindle speed and the bone density of the collision point in real time,and provides the trainees with drilling force feedback calculated by the force prediction model.In this paper,VS2015 is used as an integrated development environment.On the basis of algorithm research,a virtual bone drilling system is developed with open source library CHAI 3D and OPENGL,and the implementation code is integrated into an open source class library.Doctors simulate the real operation scene by watching the real-time operation process and feeling the operation force.They can acquire the drilling skills skillfully after many times of operation simulation.