Development of a surface-based virtual dental sculpting simulator with multimodal feedback

Article

Abstract

This paper presents a surface-based virtual dental sculpting simulator based on sensory modalities like visual, auditory and haptic sensation. The simulator can be used to perform different dental procedures such as grinding, drilling, or surface scrubbing, and gain experience of using various virtual dental tools of different shapes. The surface-based dental model, which is extracted from a commercial 3D dental laser scanner, is used for simulating sculpting processes at less memory cost. Large amount of triangular mesh data is contained in scanned models; therefore, a model reduction algorithm is proposed for large triangular mesh data. For the computation of repulsive force feedback, a spring-damper force model with a force filter is used. Vertex deformation method is implemented along with an enhanced bi-tri subdivision method of triangles to perform precision sculpting simulation. In order to make the mesh regular, a number of mesh refinement algorithms are performed. Finally, considering the fidelity, stability, computer efficiency, and update rate of the haptic display, it can be concluded that these multimodal realities based virtual system can generate stable simulation of material removal from a human tooth model with realistic auditory, visual, and force sensations.

Keywords

Dental sculpting Haptic rendering Mesh subdivision and refinement Multimodal realities Virtual reality 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Bruyns, C. and Senger, S., “Interactive Cutting of 3-D Surface Meshes,” Computer and Graphics, Vol. 25, No. 4, pp. 635–642, 2001.CrossRefGoogle Scholar
  2. 2.
    Zhang, H. and Payandeh, D. S. J., “Simulation of Progressive Cutting on Surface Mesh model,” DRAFT 6-08, pp. 1–8, 2002.Google Scholar
  3. 3.
    Brown, J., Sorkin, S., Latombe, J., and Montgomery, K., “Algorithmic Tools for Real-Time Microsurgery Simulation,” Medical Image Analysis, Vol. 6, No. 3, pp. 289–300, 2002.CrossRefGoogle Scholar
  4. 4.
    Choi, K. S., “Interactive cutting of deformable objects using force propagation approach and digital design analogy,” Computer and Graphics, Vol. 30, pp. 233–243, 2006.CrossRefGoogle Scholar
  5. 5.
    Dachille, F., Qin, H., and Kaufman, A. E., “A novel haptic-based interface and sculpting system for physical based geometric design,” Compter-Aided Design, Vol. 33, No. 5, pp. 403–420, 2001.CrossRefGoogle Scholar
  6. 6.
    Chang, Y. H., Chen, Y. T., Chang, C. W., and Lin, C. L., “Development scheme of haptic-based system for interactive deformable simulation,” Computer-Aided Design, Vol. 42, pp. 414–424, 2010.CrossRefGoogle Scholar
  7. 7.
    Basdogan, C., De, S., Kim, J., Muniyandi, M., Kim, H., and Srinivasan, M. A., “Haptics in minimally invasive surgical simulation and training,” IEEE Computer Graphics and Applications, Vol. 24, No. 2, pp. 56–64, 2004.CrossRefGoogle Scholar
  8. 8.
    Rodrigues, M. A. F., Silva, W. B., Neto, M. E. B., Gillies, D. F., and Ribeiro, I. M. M. P., “An interactive simulation system for training and treatment planning in orthodontics,” Computer and Graphics, Vol. 31, pp. 688–697, 2007.CrossRefGoogle Scholar
  9. 9.
    Thomas, G., Johnson, L., and Stanford, D., “The Design and Testing of a Force Feedback Dental Simulator,” Computer Methods and Programs in Biomedicine, Vol. 11, No. 64, pp. 53–64, 2001.CrossRefGoogle Scholar
  10. 10.
    Luciano, C., Banerjee, P., and DeFanti, T., “Haptics-based virtual reality periodontal training simulator,” Virtual Reality, Vol. 13, No. 2, pp. 69–85, 2009.CrossRefGoogle Scholar
  11. 11.
    Rhienmora, P., Gajananan, K., Haddawy, P., Dailey, M. N., and Suebnukarn, S., “Augmented Reality Haptics System for Dental Surgical Skills Training,” VRST 2010, pp. 97–98, 2010.Google Scholar
  12. 12.
    Noborio, H., Sasaki, D., Kawamoto, Y., Tatsumi, T., and Sohmura, T., “Mixed reality software for dental simulation system,” IEEE International Workshop on Haptic Audio Visual Environments and their applications, pp. 19–24, 2008.Google Scholar
  13. 13.
    Bogdan, C. M., “Domain ontology of the VirDenT system,” J. Comput. Commun. Control, Vol. 6, pp. 45–52, 2011.Google Scholar
  14. 14.
    Wang, D., Zhang, Y., Hou, J., Wang, Y., Lv, P., Chen, Y., and Zhao, H., “iDental: a haptic-based dental simulator and its preliminary user evaluation,” IEEE Trans. Haptics, Vol. 5, No. 4, pp. 332–343, 2011.CrossRefGoogle Scholar
  15. 15.
    Laehyun, K., Gaurav, S. S., and Mathieu, D., “A Haptic Rendering Technique Based on Hybrid Surface Representation,” IEEE Computer Graphics and Applications, Vol. 24, No. 2, pp. 66–75, 2004.CrossRefGoogle Scholar
  16. 16.
    Kim, L. and Park, S., “An efcient teeth modeling for dental training system,” Int. J. CAD/CAM, Vol. 8, No. 1, pp. 41–44, 2008.Google Scholar
  17. 17.
    Kimin, K. and Park, J., “Virtual bone drilling for dental implant surgery training,” VRST 2009, 2009.Google Scholar
  18. 18.
    Novint Technologies, “Virtual reality dental training system (vrdts),” http://www.novint.com/index.php/apg/medicaldental, [Accessed: Sept. 2012]
  19. 19.
    Marras, I., Papaleontiou, L., Nikolaidis, N., Lyroudia, K., and Pitas, I., “Virtual Dental Patient: a System for Virtual Teeth Drilling,” IEEE International Conference on Multimedia and Expo., 2006.Google Scholar
  20. 20.
    Noborio, H., Sasaki, D., Kawamoto, Y., Tatsumi, T., and Sohmura, T., “Construction of Dental Simulation System with Mixed Visual, Tactile, and Sound Realities,” 18th International Conference on Artificial Reality and Telexistence, 2008.Google Scholar
  21. 21.
    Chang, H. C., Jin, Y. L., Yong, K. L., and Mun, T. C., “Determining the Passive Region of the Multirate Wave Transform on the Practical Implementation,” Int. J. Precis. Eng. Manuf., Vol. 12, No. 6, pp. 975–981, 2011.CrossRefGoogle Scholar
  22. 22.
    Park, J., Kim, K., and Hong, D., “Haptic-based resistance training machine and its application to biceps exercises,” Int. J. Precis. Eng. Manuf., Vol. 12, No. 1, pp. 21–30, 2011.CrossRefGoogle Scholar
  23. 23.
    Ullah, F. and Park, K., “Virtual Dental Sculpting Simulation using a Surface-based Tooth Model and a Haptic Device,” Korean Society of CAD/CAM Engineers, pp. 838–851, 2011.Google Scholar
  24. 24.
    Ullah, F. and Park, K., “Visual, Haptic, and Auditory Realities based Dental Training Simulator,” 2012 International Conference on Information Science and Applications, pp. 106–111, 2012.Google Scholar
  25. 25.
    Ullah, F. and Park, K., “Surface-Based Virtual Dental Surgical Simulator using Haptic Display,” Computer-Aided Design & Applications, Vol. 8, No. 6, pp. 841–848, 2011.CrossRefGoogle Scholar
  26. 26.
    Ullah, F. and Park, K., “Surface-based Virtual Dental Sculpting Simulation with Multimodal Feedback,” Asian Conference on Design and Digital Engineering, pp. 548–555, 2011.Google Scholar
  27. 27.
    Ullah, F. and Park, K., “Virtual Dental Treatment Training System using a Haptic Device,” Korean Society of CAD/CAM Engineers, pp. 115–121, 2009.Google Scholar
  28. 28.
    Xia, P., Lopes, A., and Restivo, M., “Virtual reality and haptics for dental surgery: a personal review,” The Visual Computer, pp. 1–15, 2012.Google Scholar
  29. 29.
    Ullah, F., Lee, G. S., and Park, K., “Piezoelectric Transducer based 3D Intraoral Scanner,” 2012 International Conference on Information Science and Applications, pp. 118–123, 2012.Google Scholar
  30. 30.
    Ullah, F., Lee, G. S., and Park, K., “Development of a Real-time 3D Intraoral Scanner based on Fringe-Projection Technique,” Transactions of the Society of CAD/CAM Engineers, Vol. 17, No. 3, pp. 156–163, 2012.CrossRefGoogle Scholar
  31. 31.
    Kobbelt, L., “3 Subdivision,” Proc. of SIGGRAPH, pp. 103–112, 2000.CrossRefGoogle Scholar
  32. 32.
    Loop, C. T., “Smooth subdivision surfaces based on triangles,” Master’s Thesis, Department of Mathematics, University of Utah, 1987.Google Scholar
  33. 33.
    Bischoff, S. and Kobbelt, L., “Teaching meshes, subdivision and multiresolution techniques,” Computer-Aided Design, Vol. 36, No. 14, pp. 1483–1500, 2004.CrossRefGoogle Scholar
  34. 34.
    Foskey, M., Otaduy, M. A., and Lin, M. C., “ArtNova: Touchenabled 3D model design,” IEEE Virtual Reality Proceedings, pp. 119–126, 2002.Google Scholar
  35. 35.
    McDonnell, K. T., Qin, H., and Wlodarczyk, R. A., “Virtual clay: a real-time sculpting system with haptic toolkits,” ACM Symposium on Interactive 3D Techniques, pp. 179–190, 2001.Google Scholar
  36. 36.
    Tanaka, A., Hirota, K., and Kaneko, T., “Virtual cutting with force feedback,” Proc. of Virtual Reality Annual International Symposium, Vol. 199, No. 8, pp. 71–77, 1998.Google Scholar
  37. 37.
    Tse, B., Harwin, W., Barrow, A., Quinn, B., San Diego, J. P., and Cox, M., “Design and development of a haptic dental training system - hapTEL,” Euro Haptics Conference, pp. 101–108, 2010.Google Scholar

Copyright information

© Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Graduate School of Mechanical EngineeringMyongji UniversityYongin, Gyeonggi-DoSouth Korea
  2. 2.Dept. of Mechanical EngineeringMyongji UniversityYongin, Gyeonggi-DoSouth Korea

Personalised recommendations