Haptic Rendering of Drilling into Femur Bone with Graded Stiffness

This paper presents haptic rendering method of drilling into femur bone with graded stiffness. Volume rendering is preferred than surface rendering in drilling or burr simulation because the volume rendering can contain 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 surface-data-based haptic rendering of drilling process of stiffness graded material. Contact surface update and bone erosion algorithms are suggested to implement the drilling process. The proposed algorithms are adapted to the closed reduction and internal fixation surgery simulator. The proposed method allows the user of the simulation to feel the different forces according to the drilled depth.