A Physically Realistic Voxel-Based Method for Haptic Simulation of Bone Machining

Authors:
Majid Moghaddam;Ali Nahvi;Mohamadreza Arbabtafti;Mohsen Mahvash
Affiliations:
Tarbiat Modares University, Tehran, Iran P.O. Box 14115-111;K.N. Toosi University of Technology, Tehran, Iran;Tarbiat Modares University, Tehran, Iran P.O. Box 14115-111;Boston University, USA
Venue:
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Year:
2008

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Abstract

This paper models force of machining a piece of bone by a spherical rotating tool for haptic simulation of bone surgery. The cutting edges of the spherical tool are modeled as a set of infinitesimal cutting elements. Each cutting element in contact with the bone piece undergoes an orthogonal cutting process. The force of cutting is obtained by summing up the forces of each element of the engaged cutting element. The force of each cutting element is related to the size of the chip formed at the bone piece due to a fracture process. The coefficients that relate the chip thickness to the cutting forces are derived from the experimental results. A voxel-based method is developed to simulate chip formation and the force of bone machining. The simulation results show a close force correlation between the voxel-based method and an analytical force model at certain loading conditions. This voxel-based method offers a physics-based continuous force model for bone machining.