Development of chiseling model with transition from chiseling to splitting situations for implementing to surgical training simulator*

This paper contributes to realize the surgical training simulator for the chiseling operation to a hard tissue using a bone chisel and mallet. In most of the previous studies related to the training simulator, the target organization was soft tissues. However, in oral and orthopedics surgeries, surgeons operate hard tissues such as bone and teeth using a chisel and mallet. Therefore, the development of the surgical training simulator for chiseling the hard tissue by pounding the bone chisel with bone mallet has been promoted in recent year. It is required to represent precisely the chiseling situation for improving the realistic sensation. In this study, we propose the chiseling model with the transition from chiseling to splitting in response to pound the chisel. In the proposed model, the mass, spring and damper model with varying the equilibrium point is applied for representing the elastic and plastic deformation of hard tissue. Moreover, the model parameters are switched for representing the transition from chiseling to splitting. The model parameters are identified by fitting the simulated and the experimented chiseling data. In this study, the measurement of the chiseling motion is also introduced for actual chiseling data acquisition. The efficacy of the proposed model is verified by the comparison with the experimental results from measurement system.