Development of dental training system with haptic display

This paper discusses the development of a dental training system with haptic display capability. The system architecture is proposed firstly concerning two typical operations, probing and cutting, in dental surgery. Triangle mesh model is used for the tooth to reduce the computation time. Real time collision detection is realized between the tooth and a spherical tool. The operation force is determined from the penetration between the tool and the tooth. Material removal from the tooth is realized using vertex deformation method. Force filtering approach is proposed to eliminate vibration of the haptic device. Experiment results show that the system can provide stable simulation of probing and cutting operation.