American Institute of Mathematical Sciences

Advanced
  • Previous Article
    Two-echelon trade credit with default risk in an EOQ model for deteriorating items under dynamic demand
  • JIMO Home
  • This Issue
  • Next Article
    A reformulation-linearization based algorithm for the smallest enclosing circle problem
November  2021, 17(6): 3645-3657. doi: 10.3934/jimo.2020137

Maxillofacial surgical simulation system with haptic feedback

Jing Zhang 1, , Jiahui Qian 1, , Han Zhang 1, , Ling He 1,, , Bin Li 1, , Jing Qin 2, , Hongning Dai 3, , Wei Tang 4, and  Weidong Tian 4,

1. 

College of Electrical Engineering, Sichuan University, Chengdu, 610000, China
2. 

Centre for Smart Health, School of Nursing, Hong Kong Polytechnic University, Hong Kong, 999077, China
3. 

Faculty of Information Technology, Macau University of Science and Technology, Macau, 999078, China
4. 

West China College of Stomatology, Sichuan University, Chengdu, 610000, China

* Corresponding author: Ling He

Received  April 2020 Revised  June 2020 Published  November 2021 Early access  August 2020

Fund Project: This research was partially supported by research grants from the National Natural Science Foundation of China (Grant: No.61571314)

Due to the complexity of the maxillofacial surgery, the novice should be sufficiently trained before one is qualified to carry on the surgery. To reduce the training costs and improve the training efficiency, a virtual mandible surgical system with haptic feedback is proposed. This surgical simulation system offers users the haptic feedback while simulating maxillofacial surgery. An integrated model is introduced to optimize the system simulation process, which includes force output to a six-degree-of-freedom haptic device. Based on the anatomy structure of the bone tissue, a two-layer mechanism model is designed to balance the requirement of real-time response and the force feedback accuracy. Collision detection, force rendering, and grinding function are studied to simulate some essential operations: open reduction, osteotomy, and palate fixation. The proposed simulation platform can assist in the training and planning of these oral and maxillofacial surgeries. The fast response feature enables surgeons to design a patient-specific guide plate in real-time. Ten stomatology surgeons evaluated this surgical simulation system from the following four indexes: the level of immersion, user-friendliness, stability, and the effect of surgical training. The evaluation score is eight out of ten.

Keywords: virtual surgery, surgery training, maxillofacial surgery, force feedback.
Mathematics Subject Classification: Primary: 68Q01; Secondary: 68Q15.
Citation: Jing Zhang, Jiahui Qian, Han Zhang, Ling He, Bin Li, Jing Qin, Hongning Dai, Wei Tang, Weidong Tian. Maxillofacial surgical simulation system with haptic feedback. Journal of Industrial and Management Optimization, 2021, 17 (6) : 3645-3657. doi: 10.3934/jimo.2020137
References:
[1]

M. Bakr, W. Massey and H. Alexander, Can virtual simulators replace traditional preclinical teaching methods: a studentsṕerspective, Int. J. Dent. Oral Health, 2.

[2]

J. Bian, J. Chen and M. Sun, Simulation of soft tissue deformation in virtual surgery based on physics engine, in IEEE 2011 Third International Conference on Multimedia Information Networking and Security, Shanghai, China, 2011, 60–64. doi: 10.1109/MINES.2011.84.

[3]

S. A.-H. Centenero and F. Hernández-Alfaro, 3D planning in orthognathic surgery: Cad/cam surgical splints and prediction of the soft and hard tissues results–our experience in 16 cases, Journal of Cranio-Maxillofacial Surgery, 40 (2012), 162-168. 

[4]

X. Chen and J. Hu, A review of haptic simulator for oral and maxillofacial surgery based on virtual reality, Expert Review of Medical Devices, 15 (2018), 435-444.  doi: 10.1080/17434440.2018.1484727.

[5]

X. Chen, L. Xu, Y. Sun and C. Politis, A review of computer-aided oral and maxillofacial surgery: Planning, simulation and navigation, Expert Review of Medical Devices, 13 (2016), 1043-1051.  doi: 10.1080/17434440.2016.1243054.

[6]

T.-B. Deng, Biquadratic digital phase-compensator design with stability-margin controllability, Journal of Circuits, Systems and Computers, 28 (2019), 1950068. doi: 10.1142/S0218126619500683.

[7]

D. Escobar-Castillejos, J. Noguez, L. Neri, A. Magana and B. Benes, A review of simulators with haptic devices for medical training, Journal of Medical Systems, 40 (2016), Art. 104. doi: 10.1007/s10916-016-0459-8.

[8]

G. Ettorre, M. Weber, H. Schaaf, J. C. Lowry, M. Y. Mommaerts and H.-P. Howaldt, Standards for digital photography in cranio-maxillo-facial surgery–part Ⅰ: Basic views and guidelines, Journal of Cranio-Maxillofacial Surgery, 34 (2006), 65-73.  doi: 10.1016/j.jcms.2005.11.002.

[9]

R. Ewers, K. Schicho, G. Undt, F. Wanschitz, M. Truppe, R. Seemann and A. Wagner, Basic research and 12 years of clinical experience in computer-assisted navigation technology: A review, International Journal of Oral and Maxillofacial Surgery, 34 (2005), 1-8.  doi: 10.1016/j.ijom.2004.03.018.

[10]

F. Fawzy, H. Hanssan and Jong-Woo, Evaluation of virtual surgical plan applicability in 3D simulation-guided two-jaw surgery, Journal of Cranio-Maxillofacial Surgery, 47 (2019), 860-866.  doi: 10.1016/j.jcms.2019.03.005.

[11]

Z. Galias and M. J. Ogorzalek, On symbolic dynamics of a chaotic second-order digital filter, International Journal of Circuit Theory and Applications, 20 (1992), 401-409.  doi: 10.1002/cta.4490200406.

[12]

S. Girod, S. C. Schvartzman, D. Gaudilliere, K. Salisbury and R. Silva, Haptic feedback improves surgeons' user experience and fracture reduction in facial trauma simulation, Journal of Rehabilitation Research & Development, 53 (2016), 561-570.  doi: 10.1682/JRRD.2015.03.0043.

[13]

T. J. Hoppenreijs, H. P. M. Freihofer, P. J. Stoelinga, D. B. Tuinzing and M. A. van't Hof, Condylar remodelling and resorption after Le Fort I and bimaxillary osteotomies in patients with anterior open bite: A clinical and radiological study aesthetic and reconstructive surgery, International Journal of Oral and Maxillofacial Surgery, 27 (1998), 81-91. 

[14]

T. Iizuka, K. Lädrach, A. H. Geering and J. Raveh, Open reduction without fixation of dislocated condylar process fractures: Long-term clinical and radiologic analysis, Journal of Oral and Maxillofacial Surgery, 56 (1998), 553-561.  doi: 10.1016/S0278-2391(98)90450-5.

[15]

K. Kashiwa, S. Kobayashi, H. Kimura, T. Honda, T. Nohara, H. Fujiwara, Y. Hosoya and Y. Arai, Reconstruction of a severe maxillofacial deformity after tumorectomy and irradiation using distraction osteogenesis and Le Fort I osteotomy before vascularized bone graft, Journal of Craniofacial Surgery, 18 (2007), 1133-1137.  doi: 10.1097/scs.0b013e318157280b.

[16]

E. I. Konukseven, M. E. Önder, E. Mumcuoglu and R. S. Kisnisci, Development of a visio-haptic integrated dental training simulation system, Journal of Dental Education, 74 (2010), 880-891. 

[17]

K. Kurita and N. V. Echiverre, Protective guide plate to aid in downfracture and positioning of the maxilla after Le Fort I osteotomy, Journal of Oral and Maxillofacial Surgery, 55 (1997), 1185-1186.  doi: 10.1016/S0278-2391(97)90306-2.

[18]

B. Lethaus, L. Poort, R. Böckmann, R. Smeets, R. Tolba and P. Kessler, Additive manufacturing for microvascular reconstruction of the mandible in 20 patients, Journal of Cranio-Maxillofacial Surgery, 40 (2012), 43-46.  doi: 10.1016/j.jcms.2011.01.007.

[19]

J. P. Levine, A. Patel, P. B. Saadeh and D. L. Hirsch, Computer-aided design and manufacturing in craniomaxillofacial surgery: The new state of the art, The Journal of Craniofacial Surgery, 23 (2012), 288-293.  doi: 10.1097/SCS.0b013e318241ba92.

[20]

Q. Ma, E. Kobayashi, J. Wang, K. Hara, H. Suenaga, I. Sakuma and K. Masamune, Development and preliminary evaluation of an autonomous surgical system for oral and maxillofacial surgery, The International Journal of Medical Robotics and Computer Assisted Surgery, 15 (2019), e1997. doi: 10.1002/rcs.1997.

[21]

A. Maciel, T. Halic, Z. Lu, L. P. Nedel and S. De, Using the PhysX engine for physics-based virtual surgery with force feedback, The International Journal of Medical Robotics and Computer Assisted Surgery, 5 (2009), 341-353.  doi: 10.1002/rcs.266.

[22]

S. G. Maliha, J. R. Diaz-Siso, N. M. Plana, A. Torroni and R. L. Flores, Haptic, physical, and web-based simulators: Are they underused in maxillofacial surgery training?, Journal of Oral and Maxillofacial Surgery, 76 (2018), 2424.E1–2424.E11. doi: 10.1016/j.joms.2018.06.177.

[23]

C. Mendoza and C. OŚullivan, Interruptible collision detection for deformable objects, Computers & Graphics, 30 (2006), 432-438.  doi: 10.1016/j.cag.2006.02.018.

[24]

A. Moroi, Y. Ishihara, M. Sotobori, R. Nakazawa, M. Higuchi, Y. Nakano, K. Marukawa and K. Ueki, Evaluation of soft tissue morphologic changes after using the alar base cinch suture in Le Fort I osteotomy in mandibular prognathism with and without asymmetry, Journal of Cranio-Maxillofacial Surgery, 42 (2014), 718-724.  doi: 10.1016/j.jcms.2013.11.001.

[25]

M. Nakao, S. Aso, Y. Imai, N. Ueda, T. Hatanaka, M. Shiba, T. Kirita and T. Matsuda, Automated planning with multivariate shape descriptors for fibular transfer in mandibular reconstruction, IEEE Transactions on Biomedical Engineering, 64 (2016), 1772-1785.  doi: 10.1109/TBME.2016.2621742.

[26]

P. Pohlenz, A. Gröbe, A. Petersik, N. Von Sternberg, B. Pflesser, A. Pommert, K.-H. Höhne, U. Tiede, I. Springer and M. Heiland, Virtual dental surgery as a new educational tool in dental school, Journal of Cranio-Maxillofacial Surgery, 38 (2010), 560-564. 

[27]

S. Raith, A. Rauen, S. C. Möhlhenrich, N. Ayoub, F. Peters, T. Steiner, F. Hölzle and A. Modabber, Introduction of an algorithm for planning of autologous fibular transfer in mandibular reconstruction based on individual bone curvatures, The International Journal of Medical Robotics and Computer Assisted Surgery, 14 (2018), e1894. doi: 10.1002/rcs.1894.

[28]

H. Rashid, A. Hussain, A. H. Sheikh, K. Azam, S. Malik and M. Amin, Measure of frequency of alveolar osteitis using two different methods of osteotomy in mandibular third molar impactions: A double-blind randomized clinical trial, Journal of Ayub Medical College Abbottabad, 30 (2018), 103-106. 

[29]

C. E. Reiley, T. Akinbiyi, D. Burschka, D. C. Chang, A. M. Okamura and D. D. Yuh, Effects of visual force feedback on robot-assisted surgical task performance, The Journal of Thoracic and Cardiovascular Surgery, 135 (2008), 196-202.  doi: 10.1016/j.jtcvs.2007.08.043.

[30]

H. Schaaf, P. Streckbein, G. Ettorre, J. C. Lowry, M. Y. Mommaerts and H.-P. Howaldt, Standards for digital photography in cranio-maxillo-facial surgery–part Ⅱ: Additional picture sets and avoiding common mistakes, Journal of Cranio-Maxillofacial Surgery, 34 (2006), 366-377. 

[31]

T. Sohmura, H. Hojo, M. Nakajima, K. Wakabayashi, M. Nagao, S. Iida, T. Kitagawa, M. Kogo, T. Kojima, K. Matsumura, et al., Prototype of simulation of orthognathic surgery using a virtual reality haptic device, International Journal of Oral and Maxillofacial Surgery, 33 (2004), 740-750.

[32]

H. I. Son, A. Franchi, L. L. Chuang, J. Kim, H. H. Bulthoff and P. R. Giordano, Human-centered design and evaluation of haptic cueing for teleoperation of multiple mobile robots, IEEE Transactions on Cybernetics, 43 (2013), 597-609. 

[33]

J. P. Thawani, A. G. Ramayya, K. G. Abdullah, E. Hudgins, K. Vaughan, M. Piazza, P. J. Madsen, V. Buch and M. S. Grady, Resident simulation training in endoscopic endonasal surgery utilizing haptic feedback technology, Journal of Clinical Neuroscience, 34 (2016), 112-116.  doi: 10.1016/j.jocn.2016.05.036.

[34]

B. Tse, W. Harwin, A. Barrow, B. Quinn, M. Cox, et al., Design and development of a haptic dental training system–hapTEL, in International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Springer, 2010,101–108. doi: 10.1007/978-3-642-14075-4_15.

[35]

C. G. Wallace, Y.-M. Chang, C.-Y. Tsai and F.-C. Wei, Harnessing the potential of the free fibula osteoseptocutaneous flap in mandible reconstruction, Plastic and Reconstructive Surgery, 125 (2010), 305-314.  doi: 10.1097/PRS.0b013e3181c2bb9d.

[36]

F. Wu, X. Chen, Y. Lin, C. Wang, X. Wang, G. Shen, J. Qin and P.-A. Heng, A virtual training system for maxillofacial surgery using advanced haptic feedback and immersive workbench, The International Journal of Medical Robotics and Computer Assisted Surgery, 10 (2014), 78-87.  doi: 10.1002/rcs.1514.

[37]

W. Xiao-rong, W. Meng and L. Chun-Gui, Research on collision detection algorithm based on aabb, in IEEE 2009 Fifth International Conference on Natural Computation, vol. 6, Tianjin, China, 2009,422–424. doi: 10.1109/ICNC.2009.196.

[38]

Y. P. Xin, S. J. Kim, Q. Lei, S. Wei, B. Liu, W. Wang, S. Kastberg, Y. Chen, X. Yang, X. Ma, et al., The effect of computer-assisted conceptual model-based intervention program on mathematics problem-solving performance of at-risk English learners, Reading & Writing Quarterly, 36 (2020), 104-123.

[39]

G. Yan, X. Wang, X. Tan, M. Yang and L. Lu, Study on accuracy of virtual surgical planning in free fibula mandibular reconstruction by using surgicase software, Zhongguo xiu fu chong jian wai ke za zhi. Chinese Journal of Reparative and Reconstructive Surgery, 27 (2013), 1006-1009. 

[40]

L. Zhao, P. K. Patel and M. Cohen, Application of virtual surgical planning with computer assisted design and manufacturing technology to cranio-maxillofacial surgery, Archives of Plastic Surgery, 39 (2012), 309. doi: 10.5999/aps.2012.39.4.309.

show all references

References:
[1]

M. Bakr, W. Massey and H. Alexander, Can virtual simulators replace traditional preclinical teaching methods: a studentsṕerspective, Int. J. Dent. Oral Health, 2.

[2]

J. Bian, J. Chen and M. Sun, Simulation of soft tissue deformation in virtual surgery based on physics engine, in IEEE 2011 Third International Conference on Multimedia Information Networking and Security, Shanghai, China, 2011, 60–64. doi: 10.1109/MINES.2011.84.

[3]

S. A.-H. Centenero and F. Hernández-Alfaro, 3D planning in orthognathic surgery: Cad/cam surgical splints and prediction of the soft and hard tissues results–our experience in 16 cases, Journal of Cranio-Maxillofacial Surgery, 40 (2012), 162-168. 

[4]

X. Chen and J. Hu, A review of haptic simulator for oral and maxillofacial surgery based on virtual reality, Expert Review of Medical Devices, 15 (2018), 435-444.  doi: 10.1080/17434440.2018.1484727.

[5]

X. Chen, L. Xu, Y. Sun and C. Politis, A review of computer-aided oral and maxillofacial surgery: Planning, simulation and navigation, Expert Review of Medical Devices, 13 (2016), 1043-1051.  doi: 10.1080/17434440.2016.1243054.

[6]

T.-B. Deng, Biquadratic digital phase-compensator design with stability-margin controllability, Journal of Circuits, Systems and Computers, 28 (2019), 1950068. doi: 10.1142/S0218126619500683.

[7]

D. Escobar-Castillejos, J. Noguez, L. Neri, A. Magana and B. Benes, A review of simulators with haptic devices for medical training, Journal of Medical Systems, 40 (2016), Art. 104. doi: 10.1007/s10916-016-0459-8.

[8]

G. Ettorre, M. Weber, H. Schaaf, J. C. Lowry, M. Y. Mommaerts and H.-P. Howaldt, Standards for digital photography in cranio-maxillo-facial surgery–part Ⅰ: Basic views and guidelines, Journal of Cranio-Maxillofacial Surgery, 34 (2006), 65-73.  doi: 10.1016/j.jcms.2005.11.002.

[9]

R. Ewers, K. Schicho, G. Undt, F. Wanschitz, M. Truppe, R. Seemann and A. Wagner, Basic research and 12 years of clinical experience in computer-assisted navigation technology: A review, International Journal of Oral and Maxillofacial Surgery, 34 (2005), 1-8.  doi: 10.1016/j.ijom.2004.03.018.

[10]

F. Fawzy, H. Hanssan and Jong-Woo, Evaluation of virtual surgical plan applicability in 3D simulation-guided two-jaw surgery, Journal of Cranio-Maxillofacial Surgery, 47 (2019), 860-866.  doi: 10.1016/j.jcms.2019.03.005.

[11]

Z. Galias and M. J. Ogorzalek, On symbolic dynamics of a chaotic second-order digital filter, International Journal of Circuit Theory and Applications, 20 (1992), 401-409.  doi: 10.1002/cta.4490200406.

[12]

S. Girod, S. C. Schvartzman, D. Gaudilliere, K. Salisbury and R. Silva, Haptic feedback improves surgeons' user experience and fracture reduction in facial trauma simulation, Journal of Rehabilitation Research & Development, 53 (2016), 561-570.  doi: 10.1682/JRRD.2015.03.0043.

[13]

T. J. Hoppenreijs, H. P. M. Freihofer, P. J. Stoelinga, D. B. Tuinzing and M. A. van't Hof, Condylar remodelling and resorption after Le Fort I and bimaxillary osteotomies in patients with anterior open bite: A clinical and radiological study aesthetic and reconstructive surgery, International Journal of Oral and Maxillofacial Surgery, 27 (1998), 81-91. 

[14]

T. Iizuka, K. Lädrach, A. H. Geering and J. Raveh, Open reduction without fixation of dislocated condylar process fractures: Long-term clinical and radiologic analysis, Journal of Oral and Maxillofacial Surgery, 56 (1998), 553-561.  doi: 10.1016/S0278-2391(98)90450-5.

[15]

K. Kashiwa, S. Kobayashi, H. Kimura, T. Honda, T. Nohara, H. Fujiwara, Y. Hosoya and Y. Arai, Reconstruction of a severe maxillofacial deformity after tumorectomy and irradiation using distraction osteogenesis and Le Fort I osteotomy before vascularized bone graft, Journal of Craniofacial Surgery, 18 (2007), 1133-1137.  doi: 10.1097/scs.0b013e318157280b.

[16]

E. I. Konukseven, M. E. Önder, E. Mumcuoglu and R. S. Kisnisci, Development of a visio-haptic integrated dental training simulation system, Journal of Dental Education, 74 (2010), 880-891. 

[17]

K. Kurita and N. V. Echiverre, Protective guide plate to aid in downfracture and positioning of the maxilla after Le Fort I osteotomy, Journal of Oral and Maxillofacial Surgery, 55 (1997), 1185-1186.  doi: 10.1016/S0278-2391(97)90306-2.

[18]

B. Lethaus, L. Poort, R. Böckmann, R. Smeets, R. Tolba and P. Kessler, Additive manufacturing for microvascular reconstruction of the mandible in 20 patients, Journal of Cranio-Maxillofacial Surgery, 40 (2012), 43-46.  doi: 10.1016/j.jcms.2011.01.007.

[19]

J. P. Levine, A. Patel, P. B. Saadeh and D. L. Hirsch, Computer-aided design and manufacturing in craniomaxillofacial surgery: The new state of the art, The Journal of Craniofacial Surgery, 23 (2012), 288-293.  doi: 10.1097/SCS.0b013e318241ba92.

[20]

Q. Ma, E. Kobayashi, J. Wang, K. Hara, H. Suenaga, I. Sakuma and K. Masamune, Development and preliminary evaluation of an autonomous surgical system for oral and maxillofacial surgery, The International Journal of Medical Robotics and Computer Assisted Surgery, 15 (2019), e1997. doi: 10.1002/rcs.1997.

[21]

A. Maciel, T. Halic, Z. Lu, L. P. Nedel and S. De, Using the PhysX engine for physics-based virtual surgery with force feedback, The International Journal of Medical Robotics and Computer Assisted Surgery, 5 (2009), 341-353.  doi: 10.1002/rcs.266.

[22]

S. G. Maliha, J. R. Diaz-Siso, N. M. Plana, A. Torroni and R. L. Flores, Haptic, physical, and web-based simulators: Are they underused in maxillofacial surgery training?, Journal of Oral and Maxillofacial Surgery, 76 (2018), 2424.E1–2424.E11. doi: 10.1016/j.joms.2018.06.177.

[23]

C. Mendoza and C. OŚullivan, Interruptible collision detection for deformable objects, Computers & Graphics, 30 (2006), 432-438.  doi: 10.1016/j.cag.2006.02.018.

[24]

A. Moroi, Y. Ishihara, M. Sotobori, R. Nakazawa, M. Higuchi, Y. Nakano, K. Marukawa and K. Ueki, Evaluation of soft tissue morphologic changes after using the alar base cinch suture in Le Fort I osteotomy in mandibular prognathism with and without asymmetry, Journal of Cranio-Maxillofacial Surgery, 42 (2014), 718-724.  doi: 10.1016/j.jcms.2013.11.001.

[25]

M. Nakao, S. Aso, Y. Imai, N. Ueda, T. Hatanaka, M. Shiba, T. Kirita and T. Matsuda, Automated planning with multivariate shape descriptors for fibular transfer in mandibular reconstruction, IEEE Transactions on Biomedical Engineering, 64 (2016), 1772-1785.  doi: 10.1109/TBME.2016.2621742.

[26]

P. Pohlenz, A. Gröbe, A. Petersik, N. Von Sternberg, B. Pflesser, A. Pommert, K.-H. Höhne, U. Tiede, I. Springer and M. Heiland, Virtual dental surgery as a new educational tool in dental school, Journal of Cranio-Maxillofacial Surgery, 38 (2010), 560-564. 

[27]

S. Raith, A. Rauen, S. C. Möhlhenrich, N. Ayoub, F. Peters, T. Steiner, F. Hölzle and A. Modabber, Introduction of an algorithm for planning of autologous fibular transfer in mandibular reconstruction based on individual bone curvatures, The International Journal of Medical Robotics and Computer Assisted Surgery, 14 (2018), e1894. doi: 10.1002/rcs.1894.

[28]

H. Rashid, A. Hussain, A. H. Sheikh, K. Azam, S. Malik and M. Amin, Measure of frequency of alveolar osteitis using two different methods of osteotomy in mandibular third molar impactions: A double-blind randomized clinical trial, Journal of Ayub Medical College Abbottabad, 30 (2018), 103-106. 

[29]

C. E. Reiley, T. Akinbiyi, D. Burschka, D. C. Chang, A. M. Okamura and D. D. Yuh, Effects of visual force feedback on robot-assisted surgical task performance, The Journal of Thoracic and Cardiovascular Surgery, 135 (2008), 196-202.  doi: 10.1016/j.jtcvs.2007.08.043.

[30]

H. Schaaf, P. Streckbein, G. Ettorre, J. C. Lowry, M. Y. Mommaerts and H.-P. Howaldt, Standards for digital photography in cranio-maxillo-facial surgery–part Ⅱ: Additional picture sets and avoiding common mistakes, Journal of Cranio-Maxillofacial Surgery, 34 (2006), 366-377. 

[31]

T. Sohmura, H. Hojo, M. Nakajima, K. Wakabayashi, M. Nagao, S. Iida, T. Kitagawa, M. Kogo, T. Kojima, K. Matsumura, et al., Prototype of simulation of orthognathic surgery using a virtual reality haptic device, International Journal of Oral and Maxillofacial Surgery, 33 (2004), 740-750.

[32]

H. I. Son, A. Franchi, L. L. Chuang, J. Kim, H. H. Bulthoff and P. R. Giordano, Human-centered design and evaluation of haptic cueing for teleoperation of multiple mobile robots, IEEE Transactions on Cybernetics, 43 (2013), 597-609. 

[33]

J. P. Thawani, A. G. Ramayya, K. G. Abdullah, E. Hudgins, K. Vaughan, M. Piazza, P. J. Madsen, V. Buch and M. S. Grady, Resident simulation training in endoscopic endonasal surgery utilizing haptic feedback technology, Journal of Clinical Neuroscience, 34 (2016), 112-116.  doi: 10.1016/j.jocn.2016.05.036.

[34]

B. Tse, W. Harwin, A. Barrow, B. Quinn, M. Cox, et al., Design and development of a haptic dental training system–hapTEL, in International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Springer, 2010,101–108. doi: 10.1007/978-3-642-14075-4_15.

[35]

C. G. Wallace, Y.-M. Chang, C.-Y. Tsai and F.-C. Wei, Harnessing the potential of the free fibula osteoseptocutaneous flap in mandible reconstruction, Plastic and Reconstructive Surgery, 125 (2010), 305-314.  doi: 10.1097/PRS.0b013e3181c2bb9d.

[36]

F. Wu, X. Chen, Y. Lin, C. Wang, X. Wang, G. Shen, J. Qin and P.-A. Heng, A virtual training system for maxillofacial surgery using advanced haptic feedback and immersive workbench, The International Journal of Medical Robotics and Computer Assisted Surgery, 10 (2014), 78-87.  doi: 10.1002/rcs.1514.

[37]

W. Xiao-rong, W. Meng and L. Chun-Gui, Research on collision detection algorithm based on aabb, in IEEE 2009 Fifth International Conference on Natural Computation, vol. 6, Tianjin, China, 2009,422–424. doi: 10.1109/ICNC.2009.196.

[38]

Y. P. Xin, S. J. Kim, Q. Lei, S. Wei, B. Liu, W. Wang, S. Kastberg, Y. Chen, X. Yang, X. Ma, et al., The effect of computer-assisted conceptual model-based intervention program on mathematics problem-solving performance of at-risk English learners, Reading & Writing Quarterly, 36 (2020), 104-123.

[39]

G. Yan, X. Wang, X. Tan, M. Yang and L. Lu, Study on accuracy of virtual surgical planning in free fibula mandibular reconstruction by using surgicase software, Zhongguo xiu fu chong jian wai ke za zhi. Chinese Journal of Reparative and Reconstructive Surgery, 27 (2013), 1006-1009. 

[40]

L. Zhao, P. K. Patel and M. Cohen, Application of virtual surgical planning with computer assisted design and manufacturing technology to cranio-maxillofacial surgery, Archives of Plastic Surgery, 39 (2012), 309. doi: 10.5999/aps.2012.39.4.309.

Figure 1.  The architecture of the virtual surgery system
Figure Options

Download full-size image

Download as PowerPoint slide

Figure 2.  Interaction between the two engines and the system
Figure Options

Download full-size image

Download as PowerPoint slide

Figure 3.  Interaction between the input force and the system
Figure Options

Download full-size image

Download as PowerPoint slide

Figure 4.  Simulation of the virtual surgical system for open reduction
Figure Options

Download full-size image

Download as PowerPoint slide

Figure 5.  Simulation of the virtual surgical system for grinding and design of fixing plate
Figure Options

Download full-size image

Download as PowerPoint slide

Figure 6.  Visual and haptic authenticity
Figure Options

Download full-size image

Download as PowerPoint slide

Figure 7.  Evaluation of the system
Figure Options

Download full-size image

Download as PowerPoint slide

Table 1.  Performance of virtual surgical system without griding function
Points Lines of tool Points of bone Lines of bone Triangles of bone Draw frame(FPS)
35 34 23175 69454 46280 72.2
35 34 17728 53190 35460 145.8
Table Options

Download as excel

Points Lines of tool Points of bone Lines of bone Triangles of bone Draw frame(FPS)
35 34 23175 69454 46280 72.2
35 34 17728 53190 35460 145.8
Table 2.  Performance of virtual surgical system with grinding function
Points Lines of tool Points of bone Lines of bone Triangles of bone Draw frame(FPS)
35 34 23175 69454 46280 No response
35 34 535 1526 4994 16.6
35 34 535 1526 2996 30.0
Table Options

Download as excel

Points Lines of tool Points of bone Lines of bone Triangles of bone Draw frame(FPS)
35 34 23175 69454 46280 No response
35 34 535 1526 4994 16.6
35 34 535 1526 2996 30.0
[1]

Haifeng Chu. Surgery on Herman rings of the standard Blaschke family. Discrete and Continuous Dynamical Systems, 2018, 38 (1) : 63-74. doi: 10.3934/dcds.2018003
[2]

S. R. Bullett and W. J. Harvey. Mating quadratic maps with Kleinian groups via quasiconformal surgery. Electronic Research Announcements, 2000, 6: 21-30.

[3]

Diego Samuel Rodrigues, Paulo Fernando de Arruda Mancera. Mathematical analysis and simulations involving chemotherapy and surgery on large human tumours under a suitable cell-kill functional response. Mathematical Biosciences & Engineering, 2013, 10 (1) : 221-234. doi: 10.3934/mbe.2013.10.221
[4]

. Promoting research training in tertiary education. STEM Education, 2022, 2 (2) : 84-85. doi: 10.3934/steme.2022006
[5]

James H. Elder. A new training program in data analytics & visualization. Big Data & Information Analytics, 2016, 1 (1) : i-iii. doi: 10.3934/bdia.2016.1.1i
[6]

Luca Consolini, Alessandro Costalunga, Manfredi Maggiore. A coordinate-free theory of virtual holonomic constraints. Journal of Geometric Mechanics, 2018, 10 (4) : 467-502. doi: 10.3934/jgm.2018018
[7]

Joshua Du, Liancheng Wang. Dispersion relations for supersonic multiple virtual jets. Conference Publications, 2011, 2011 (Special) : 381-390. doi: 10.3934/proc.2011.2011.381
[8]

Elvio Accinelli, Filipe Martins, Humberto Muñiz, Bruno M. P. M. Oliveira, Alberto A. Pinto. Firms, technology, training and government fiscal policies: An evolutionary approach. Discrete and Continuous Dynamical Systems - B, 2021, 26 (11) : 5723-5754. doi: 10.3934/dcdsb.2021180
[9]

Raffaele Esposito, Yan Guo, Rossana Marra. Validity of the Boltzmann equation with an external force. Kinetic and Related Models, 2011, 4 (2) : 499-515. doi: 10.3934/krm.2011.4.499
[10]

Joshua E.S. Socolar. Discrete models of force chain networks. Discrete and Continuous Dynamical Systems - B, 2003, 3 (4) : 601-618. doi: 10.3934/dcdsb.2003.3.601
[11]

Jürgen Scheurle, Stephan Schmitz. A criterion for asymptotic straightness of force fields. Discrete and Continuous Dynamical Systems - B, 2010, 14 (2) : 777-792. doi: 10.3934/dcdsb.2010.14.777
[12]

Kemal Kilic, Menekse G. Saygi, Semih O. Sezer. Exact and heuristic methods for personalized display advertising in virtual reality platforms. Journal of Industrial and Management Optimization, 2019, 15 (2) : 833-854. doi: 10.3934/jimo.2018073
[13]

Yi Zhang, Xiao-Li Ma. Research on image digital watermarking optimization algorithm under virtual reality technology. Discrete and Continuous Dynamical Systems - S, 2019, 12 (4&5) : 1427-1440. doi: 10.3934/dcdss.2019098
[14]

Božidar Jovanović, Vladimir Jovanović. Virtual billiards in pseudo–euclidean spaces: Discrete hamiltonian and contact integrability. Discrete and Continuous Dynamical Systems, 2017, 37 (10) : 5163-5190. doi: 10.3934/dcds.2017224
[15]

Jafar Sadeghi, Mojtaba Ghiyasi, Akram Dehnokhalaji. Resource allocation and target setting based on virtual profit improvement. Numerical Algebra, Control and Optimization, 2020, 10 (2) : 127-142. doi: 10.3934/naco.2019043
[16]

Hongming Yang, Dexin Yi, Junhua Zhao, Fengji Luo, Zhaoyang Dong. Distributed optimal dispatch of virtual power plant based on ELM transformation. Journal of Industrial and Management Optimization, 2014, 10 (4) : 1297-1318. doi: 10.3934/jimo.2014.10.1297
[17]

Giuseppe Capobianco, Tom Winandy, Simon R. Eugster. The principle of virtual work and Hamilton's principle on Galilean manifolds. Journal of Geometric Mechanics, 2021, 13 (2) : 167-193. doi: 10.3934/jgm.2021002
[18]

Qingguang Guan. Some estimates of virtual element methods for fourth order problems. Electronic Research Archive, 2021, 29 (6) : 4099-4118. doi: 10.3934/era.2021074
[19]

Shuhao Cao. A simple virtual element-based flux recovery on quadtree. Electronic Research Archive, 2021, 29 (6) : 3629-3647. doi: 10.3934/era.2021054
[20]

Qi Zhang, Tao Du, Changzheng Tian. A Sim2real method based on DDQN for training a self-driving scale car. Mathematical Foundations of Computing, 2019, 2 (4) : 315-331. doi: 10.3934/mfc.2019020

2021 Impact Factor: 1.411

Tools

Article outline

Figures and Tables

[Back to Top]

Copyright © 2022 American Institute of Mathematical Sciences | Privacy Policy