Volume-based haptic model for bone-drilling

For bone surgery haptic simulation, we need to consider both volume cutting deformation and stable force feedback. In this paper, we propose a volume-based haptic model where both bone and a tool are represented by voxel-based models so that we can handle shape deformation of bone efficiently. For fast and stable haptic rendering, we propose that the tool is represented by a signed-distance field and the bone surface is tracked by a set of points, called a point shell. In order to handle shape deformation of bone while drilling, fast reconstruction of point shell points are performed locally based on the voxel properties of bone and the tool.