A haptic model of a bone-cutting burr.pdf

A haptic model of a bone-cutting burr Marco Agus, Andrea Giachetti, Enrico Gobbetti, Gianluigi Zanetti, Antonio Zorcolo CRS4, Cagliari, Italy {magus,giach,gobbetti,zag,zarco}@crs4.it, Bruno Picasso DIMECA, University of Cagliari, Italy. picasso@unica.it Stefano Sellari Franceschini Dept. of Neuroscience, University of Pisa, Italy. s.sellari@unipi.it Abstract. We describe a strategy for collecting experimental data and validat- ing a bone-burr haptic contact model developed in a virtual surgical training system for middle ear surgery. The validation strategy is based on the anal- ysis of data acquired during virtual and real burring sessions. Our approach involves intensive testing of the surgical simulator by expert surgeons and trainees as well as experimental data acquisition in a controlled environment. 1 Introduction The temporal bone is one of the most complicated anatomical areas in the human body [1]. Surgical accessibility of all of its structures has vastly increased the number of potential treatments for patients with hearing or balance disorders. Successful execution of temporal bone dissection requires a high level of dexterity, experience and knowledge of the patient anatomy. Human cadaver dissections are currently considered the primary teaching tool. However, the physical limitations and decreased availability of the material, as well as its high handling and disposal cost and the risks associated to transmission of diseases such as BSE, make this training method increasingly problematic. A VR simulator realistically mimicking a patient-specific operating environment would therefore significantly contribute to the improvement of surgical training. Accurate and fast burr–bone interaction simulation is a key enabling technology in the development of such a simulator. It has to include burr–bone contact detection, bone erosion, generation of haptic response, and synthesis of secondary visual effects, such as bone debris accumulation, blooding, irrigation