Haptics-based Modeling and Simulation of Micro-Implants Surgery

Abstract

The objective of this thesis is to develop a real-time haptics-based simulation framework to model and simulate the micro-implants surgery. Based on the simulation framework, a training platform can be developed for novice dentists to practice the pre-drilling procedure and the implant placement procedure required for this particular surgery. With the developed system, trainees can get different force feedback when drilling at different oral tissues and learn to control the drill vibration during the pilot-drilling procedure. This will help them to develop a tactile sensation to identify root contact during drilling, preventing severe damage to the tooth roots hidden from sight. They can also experience the insertion, tightening and stripping phases of the implant placement procedure, allowing them to develop an intuitive sense to achieve optimal tightness between the implant and the bone. Towards the design of the proposed framework, approaches in modeling of inhomogeneous oral tissues, rendering of force/torque feedback, as well as reconstruction of oral surface during the surgical procedures have been developed and presented. A prototype simulator, including the pilot-drilling sub-system and the micro-implant insertion sub-system, has also been developed to validate these approaches.