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A GPU-implemented physics-based haptic simulator of tooth drilling
M Razavi1, H A Talebi2,3, M Zareinejad3
1Department of Robotic Engineering, Amirkabir University of Technology, Tehran, Iran.
Background:
Restorative dentistry simulation is one of the most challenging applications involving virtual reality and haptics. This paper presents a haptics-based tooth drilling simulator for dental education.
Methods:
Unlike the existing methods, the force model is based on physical properties which consider the geometrical model of the tool. In order to provide uniform force feedback from tooth layers, a new approach is suggested in which the physical properties of each tooth voxel are subsequently used in calculating the feedback force. We implement a hashing algorithm for collision detection due to its reduced time complexity. The haptics algorithm has been implemented on a graphics processing unit using the CUDA toolbox.
Results:
In parallel processing, the speed of haptic loop execution is increased almost 8 times.
Conclusion:
The proposed idea for force calculation leads to a uniform sensation of force. An important feature of the designed system is the capability to run in a real-time fashion.
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