We present the development of a bone drilling simulation system to simulate on a PC the drilling operations commonly used in orthopedic surgery. A drilling force model is obtained by performing regression of measured drilling force versus process and material parameters. A haptic rendering algorithm consisting collision detection and force generation is also developed. The overall simulation of the developed system runs two threads in parallel: (1) haptics thread, which obtains the position and orientation of the virtual drill and provides force feedback and (2) graphics thread, which is dedicated to real-time rendering of volumetric data.

Volume Subject Area:
Manufacturing (Research Oriented)
Keywords:
Orthopedic Surgery, Bone Drilling, Virtual Reality, Simulation, Haptics
Topics:
Bone, Drilling, Force feedback, Haptics, Orthopedics, Simulation, Surgery
1.
Agus, M., Giachetti, A., Gobbetti, E., Zanetti, G., and Zorcolo, A., 2002, “Real-time Haptic and Visual Simulation of Bone Dissection,” IEEE Virtual Reality Conference, pp. 209–216.
2.
Allotta
B.
,
Belmonte
F.
,
Bosio
L.
, and
Dario
P.
,
1996
, “
Study on a mechatronic tool for drilling in the osteosynthesis of long bones: tool/bone interaction, modeling and experiments
,”
Mechatronics
,
6
(
4
), pp.
447
–
459
.
3.
Banerjee, P., and Zetu, D., 2001, Virtual Manufacturing, John Wiley, New York.
4.
Barker, V. L., 1999, “Cathsim,” J. D. Westwood, H. M. Hoffman, R. A. Robb, and D. Stredney, eds., IOS Press, San Francisco, USA, pp. 36–37.
5.
Berkley, J., Weghorst, S., Gladstone, H., Raugi, G., Berg, D., and Ganter, M., 1999, “Fast Finite Element Modeling for Surgical Simulation,” J. D. Westwood, H. M. Hoffman, R. A. Robb, and D. Stredney, eds., IOS Press, San Francisco, USA, pp. 55–61.
6.
Borro
D.
,
Garcfa-Alonso
A.
, and
Matey
L.
,
2004
, “
Approximation of Optimal Voxel Size for Collision Detection in Maintainability Simulations within Massive Virtual Environments
,”
Journal of the European Association for Computer Graphics, Computer Graphics Forum
,
23
(
1
), pp.
13
–
23
.
7.
Bro-Nielsen, M., Helfrick, D., Glass, B., Zeng, X., and Connacher, H., 1998, “VR simulation of abdominal trauma surgery,” Medicine Meets Virtual Reality 6 (MMVR-6), IOS Press, San Diego, California, pp. 117–123.
8.
Chi, X., Leu, M. C., and Ochoa, J., 2004, “Modeling of Haptic Rendering for Virtual Bone Surgery,” Proceedings of IMECE’04, 2004 ASME International Mechanical Engineering Congress and R&D Expo, Computers and Information in Engineering Conference, Anaheim, California.
9.
Conditt, M., Noble, P.C., Thompson, M.T., Ismaily, S.K., Moy, G., and Mathis, K.B., 2003, “Quantitative Anlaysis of Surgical Technique in Total Knee Replacement,” Proc. of the 49th Annual Meeting of the Orthopaedic Research Society, p. 1317
10.
Delp
S. L.
,
Loan
P.
,
Basdogan
C.
, and
Rosen
J. M.
,
1997
, “
Surgical Simulation: An Emerging Technology for Training in Emergency Medicine
,”
Presence
,
6
(
2
), pp.
147
–
159
.
11.
Edmond, C. V., Heskamp, D., Sluis, D., Stredney, D., Wiet, G. J., Yagel, R., Weghorst, S., Oppenheimer, P., Miller, J., Levin, M. and Rosenberg, L., 1997, “Simulation for ENT Endoscopic Surgical Training,” Proc. Medicine Meets Virtual Reality 5, San Diego, CA, pp. 518–528.
12.
Gibson, S., Samosky, J., Mor, A., Fyock, C., Grimson, E., Kanade, T., Kikinis, R., Lauer, H., McKenzie, N., Nakajima, S., Ohkami, H., Osborne, R., and Sawada, A., 1997, “Simulating Arthroscopic Knee Surgery using Volumetric Object Representations, Real-Time Volume Rendering and Haptic Feedback,” Proc. Computer Vision and Virtual Reality in Medicine and Medical Robotics and Computer Assisted Surgery, pp. 369–378.
13.
Held
M.
,
Klosowshi
J. T.
, and
Mitchell
J. S. B.
,
1995
, “
Evaluation of Collision Detection Methods for Virtual Reality Fly-Throughs
,”
The Seventh Canadian Conference on Computer Geometry
, Vol.
3
. pp.
205
–
210
.
14.
Householder, A. S., 1970, “The Numerical Treatment of Single Non-Linear Equations,” New York: McGraw-Hill.
15.
Jacob
C. H.
,
Berry
J. T.
,
Pope
M. H.
, and
Hoaglund
F. T.
,
1976
, “
A study of the bone machining processdrilling
,”
J. Biomechanics
,
9
, pp.
343
–
349
.
16.
Karalis
T.
and
Galanos
P.
,
1982
, “
Research on the mechanical impedance of human bone by a drilling test
,”
Journal of Biomechanics
,
15
(
8
), pp.
561
–
581
.
17.
Leu
M. C.
,
Maiteh
B. Y.
,
Blackmore
D.
, and
Fu
L.
,
2001
, “
Creation of Freeform Solid Models in Virtual Reality
,”
Annals of the CIRP
, Vol.
50
, pp.
73
–
76
.
18.
Leu, M. C., Agarwal, S., Shah, K., and Aggarwal, A., 2002a, “Image Processing and Graphics Rendering for Augmented Reality,” Proceedings of Japan-USA Symposium on Flexible Automation, Hiroshima, JAPAN, pp. 295–302.
19.
Leu, M. C., Peng, X., and Velivelli, A., 2002b, “Creating Freeform Model by Carving Virtual Workpiece with Haptic Interface,” Proceedings of ASME International Mechanical Engineering Conference, New Orleans, LO.
20.
Leu, M. C., Hilgers, M. G., Agarwal, S., Hall, R. H., Lambert, L., Albright, R., and Nebel, K., 2003, “Training in Virtual Environments for First Responders,” ASEE Midwest Section Meeting, Rolla, MO.
21.
Lu, S. C-Y., Shpitanlni, M., and Gadh, R., 1999, “Virtual and Augmented Reality Technologies for Product Realization,” Annals of the CIRP, Vol. 48/2.
22.
Maiteh
B. Y.
,
Blackmore
D.
,
Abdel-Malek
L.
and
Leu
M. C.
,
2000
, “
Swept-Volume Computation for Machining Simulation and Virtual Reality Application
,”
Journal of Materials Processing and Manufacturing Science
, Vol.
7
, pp.
380
–
390
.
23.
Peng, X., Chi, X., Ochoa, J., and Leu, M. C., 2003, “Bone Surgery Simulation with Virtual Reality,” Proceedings of ASME Design Engineering Computers and Information in Engineering Conferences, Chicago, IL.
24.
Peng, X., and Leu, M. C., 2003, “Interactive Solid Modeling in a Virtual Environment with Haptic Interface,” Journal of Advanced Manufacturing Technology (in press).
25.
Ro̸tnes, J. S., Kaasa J., Westgaard G., Grimnes, M. and Ekeberg, T., 2002, “A tutorial platform suitable for surgical simulator training (SimMentor™),” Medicine Meets Virtual Reality 2002.
26.
Schroeder, W., Martin, K., and Lorensen, B. The Visualization Toolkit - An Object-Oriented Approach To 3D Graphics, Third Edition. New Jersey: Prentice Hall, 2002.
27.
Springer
S. L.
, and
Gadh
R.
,
1996
, “
State-of-the-Art Virtual Reality Hardware for Computer-Aided Design
,”
Journal of Intelligent Manufacturing
, Vol.
7
, pp.
457
–
465
.
28.
Turki, L., and Coiffet P., 1995, “A Survey of Dextrous Telemanipulation with Force Feedback Using the LRP Virtual Reality System,” Systems Analysis, Modeling & Simulation, Vol. 18-19, No. 1.
29.
Vance, J. M., and Volkov, S., 2001, “Virtual Reality Techniques to Improve Product Design,” Proceedings of 2001 NSF Design, Services & Manufacturing Grantees & Research Conference, Tampa, FL.
30.
Wiggins
K. L.
, and
Malkin
S.
,
1976
, “
Drilling of Bone
,”
Journal of Biomechanics
,
9
, pp.
553
–
559
.
This content is only available via PDF.
Copyright © 2005
 by ASME
You do not currently have access to this content.