Feedback force is very important for novices to simulate tooth preparation by using the haptic interaction system (dental training system) in a virtual environment. In the process of haptic simulation, the fidelity of generated forces by a haptic device decides whether the simulation is successful. A force model computes feedback force, and we present an analytical force model to compute the force between a tooth and a dental pin during tooth preparation. The force between a tooth and a dental pin is modeled in two parts: (1) force to resist human’s operation and (2) friction to resist the rotation of the dental engine. The force to resist the human’s operation is divided into three parts in the coordinates that are constructed on the bottom center of the dental pin. In addition, we also consider the effects of dental-pin type, tooth stiffness, and contact geometry in the force model. To determine the parameters of the force model, we construct a measuring system by using machine vision and a force/torque sensor to track the human’s operations and measure the forces between the dental pins and teeth. Based on the measuring results, we construct the relation between the force and the human’s operation. The force model is implemented in the prototype of a dental training system that uses the Phantom as the haptic interface. Dentists performing virtual operations have confirmed the fidelity of feedback force.
['Guanyang Liu', 'Yuru Zhang', 'William T. Townsend']
Force modeling for tooth preparation in a dental training system