Surface-data-based haptic rendering for simulation of surgery of closed reduction and internal fixation

This paper presents a surface-data-based haptic rendering method for simulation of surgery of closed reduction and internal fixation (CRIF). Volumetric data is often employed in the simulation of bone surgery because the volume rendering can easily handle information such as density and rigidity of each voxel. However, it is difficult to implement real-time graphics and haptic rendering because of the large computational workload. Therefore, we propose a surface-data-based haptic rendering method for real-time rendering. Mechanical properties and graphics of the inner part of the bone should be modeled in addition to the surface data to simulate drilling into the bone. An algorithm is developed to construct the surface of the drilled hole. This method allows the user of the simulation to feel the varying forces according to the drilled depth.