��ࡱ�>�� 02��/��q` �R��bjbjqPqP2::��^ttttOOO$� h�5�OOOOO5��tt�JgggO��t�tgOgg��gt ��G��I g`0�g�S �g��g�OOgOOOOO55] OOO�OOOO��$��Title: Cutting on triangle mesh: Local model-based haptic display for dental preparation surgery simulation Author(s): Wang D, Zhang YR, Wang YH, Lee YS, Lu PJ, Wang Y Source: IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS 11 (6): 671-683 NOV-DEC 2005 Document Type: Article Language: English Cited References: 30 Times Cited: 0 Abstract: A new method to realize stable and realistic cutting simulation using an impedance display haptic device and microcomputer is presented in this paper. Material removal or cutting simulation is a critical task in dental preparation surgery simulation. In this paper, a piecewise contact force model is proposed to approximately describe the cutting process. Challenging issues of minimizing the difference between the cutting simulation and haptic contact simulation are analyzed. The proposed contact-based simulation method is developed for a one-dimensional cutting task and can be expanded to three-dimensional cases. Local model-based multirate simulation cutting architecture is proposed and force control of the haptic device is decoupled from the cutting simulation loop, which can both ensure high fidelity of dynamical simulation as well as maintain stability of the haptic device. The cutting operation is realized using spherical and cylindrical shaped tools. An experiment based on the Phantom desktop proves that fidelity in one-dimensional cutting can be realized and stability in three-dimensional cutting can be ensured using the force-filtering method. Author Keywords: dental surgery simulation; haptic display; cutting simulation; impedance display; piecewise contact force model; local model; multirate simulation; stability Addresses: Wang D (reprint author), Beihang Univ, Inst Robot, 37 Xueyuan Rd,haidian Dist, Beijing, Peoples R ChinaBeihang Univ, Inst Robot, Beijing, Peoples R ChinaN Carolina State Univ, Dept Ind Engn, Raleigh, NC 27695 USAPeking Univ, Sch Stomatol, Beijing, Peoples R China E-mail Addresses: HYPERLINK "http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=hapticwang@buaa.edu.cn&folder=new&lang2=gb&addr=1" hapticwang@buaa.edu.cn, HYPERLINK "http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=yuru@public.bta.net.cn&folder=new&lang2=gb&addr=1" yuru@public.bta.net.cn, HYPERLINK "http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=wangyuhui@sina.com&folder=new&lang2=gb&addr=1" wangyuhui@sina.com, HYPERLINK "http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=yslee@eos.ncsu.edu&folder=new&lang2=gb&addr=1" yslee@eos.ncsu.edu, HYPERLINK "http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=kqcadc@bjmu.edu.cn&folder=new&lang2=gb&addr=1" kqcadc@bjmu.edu.cn Publisher: IEEE COMPUTER SOC, 10662 LOS VAQUEROS CIRCLE, PO BOX 3014, LOS ALAMITOS, CA 90720-1314 USA Subject Category: COMPUTER SCIENCE, SOFTWARE ENGINEERING IDS Number: 962VN IF = 1.694ISSN: 1077-2626 ��]^tuwx-.@ACD�� h?� h�E 0Jo(h�E CJaJjh�E CJUaJh�E CJaJo( ��01�82P��. ��A!�"�#��$��%��S��N@��Nck�e$1$a$$CJKHPJ_HaJmH nHsH tH$A@��$؞��k=�W[SOBi@��Bnf�h�U`��>�E ��c >*CJOJPJQJaJo(ph��0�� ] t w - @ C � ��X��X��X��X��X��8�@��0�( � ��B �S�� ?�39��!��17��"(�� !%]ahklp��d�c� �c�0�E {!�P[&�Nr!�[#y$q{&�/.�h0�w0�u29�b9�g<��@3zB�-FH�(H�KKP�R�>T�U(V�W35Z�;Z�M[�`�1cS"d^g�)h/ o73o�1p@}s�/x�0xJ!y�{�w{�J|k#�q�oe��}��w��F��9��=�@4��E��S��Q��l�J�)�D>�,d�Lm�� '�#�'k��h�4V�?��)��t��@�{v��^��<��1��:��C��b�> ��=��K�3�x^�dd��@��-ff��@��Unknown��G��z ��Times New Roman5��Symbol3&��z ��Arial;��[SOSimSun q��huz�fwz�f�� !-!),.:;?]}�� & 6"0000 00 00000�� =�@�\�]�^��([{� 0 000000��;�[��r��2�QKX)��?��E 2��lTitle: Cutting on triangle mesh: Local model-based haptic display for dental preparation surgery simulation ?�l�^?�l�^��Oh��+'��0��,8DT dp �� pTitle: Cutting on triangle mesh: Local model-based haptic display for dental preparation surgery simulation ��Normal��1Microsoft Office Word@@�B0�G�@r�w�G�� ՜.��+,��D��՜.��+,�� X`t|��ޱ��ٻӰ�� 8@_PID_HLINKS�A�a�http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=kqcadc@bjmu.edu.cn&folder=new&lang2=gb&addr=1�p �http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=yslee@eos.ncsu.edu&folder=new&lang2=gb&addr=1�|W�http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=wangyuhui@sina.com&folder=new&lang2=gb&addr=1� =�http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=yuru@public.bta.net.cn&folder=new&lang2=gb&addr=1�n�http://vip.sina.com.cn/cgi-bin/mail/msgForm.cgi?sid=BnRGG7mDGfw9v9DD8gU8j8G1zG1zG3sGzz11Dz18wgms9fk17j1mmc91Gw7fcRzUs9&to=hapticwang@buaa.edu.cn&folder=new&lang2=gb&addr=1� �� !"#$%&��()*+,-.��1��Root Entry�� F��G�3�Data ��1Table��WordDocument��2SummaryInformation(��DocumentSummaryInformation8��'CompObj��m�� FMicrosoft Office Word �ĵ� MSWordDocWord.Document.8�9�q