GPU-Based Haptic Simulator for Dental Bone Drilling

2011 ◽  
Author(s):  
Fei Zheng ◽  
WenFeng Lu ◽  
Yoke San Wong ◽  
Kelvin Weng Chiong Foong
Keyword(s):  
Real Time ◽  
Graphics Processing Units ◽  
Force Feedback ◽  
Mandibular Canal ◽  
Structure Design ◽  
Patient Specific ◽  
Force Model ◽  
Bone Drilling ◽  
The Real ◽  
Drill Bits

Dental bone drilling is an inexact and often a blind art. Dentist risks damaging the invisible tooth roots, nerves and critical dental structures like mandibular canal and maxillary sinus. This paper presents a haptics-based jawbone drilling simulator for novice surgeons. Through the real-time training of tactile sensations based on patient-specific data, improved outcomes and faster procedures can be provided. Previously developed drilling simulators usually adopt penalty-based contact force models and often consider only spherical-shaped drill bits for simplicity and computational efficiency. In contrast, our simulator is equipped with a more precise force model, adapted from the Voxmap-PointShell (VPS) method to capture the essential features of the drilling procedure. In addition, the proposed force model can accommodate various shapes of drill bits. To achieve better anatomical accuracy, our oral model has been reconstructed from Cone Beam CT, using voxel-based method. To enhance the real-time response, the parallel computing power of Graphics Processing Units is exploited through extra efforts for data structure design, algorithms parallelization, and graphic memory utilization. Preliminary results show that the developed system can produce appropriate force feedback at different tissue layers.

Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery

2013 ◽  
Vol 13 (4) ◽  
Author(s):  
Fei Zheng ◽  
Wen Feng Lu ◽  
Yoke San Wong ◽  
Kelvin Weng Chiong Foong
Keyword(s):  
Real Time ◽  
Dental Implant ◽  
Structure Design ◽  
Patient Specific ◽  
Force Model ◽  
Graphic Processing Units ◽  
Training Simulator ◽  
Implant Surgery ◽  
Resistance Torque ◽  
Dental Implant Surgery

This paper presents a haptics-based training simulator for dental implant surgery. Most of the previously developed dental simulators are targeted for exploring and drilling purpose only. The penalty-based contact force models with spherical-shaped dental tools are often adopted for simplicity and computational efficiency. In contrast, our simulator is equipped with a more precise force model adapted from the Voxmap-PointShell (VPS) method to capture the essential features of the drilling procedure, with no limitations on drill shape. In addition, a real-time torque model is proposed to simulate the torque resistance in the implant insertion procedure, based on patient-specific tissue properties and implant geometry. To achieve better anatomical accuracy, our oral model is reconstructed from cone beam computed tomography (CBCT) images with a voxel-based method. To enhance the real-time response, the parallel computing power of GPUs is exploited through extra efforts in data structure design, algorithms parallelization, and graphic memory utilization. Results show that the developed system can produce appropriate force feedback at different tissue layers during pilot drilling and can create proper resistance torque responses during implant insertion.

scholarly journals The Value of 3D Printing Models of Left Atrial Appendage Using Real-Time 3D Transesophageal Echocardiographic Data in Left Atrial Appendage Occlusion: Applications toward an Era of Truly Personalized Medicine

Cardiology ◽  
2016 ◽  
Vol 135 (4) ◽  
pp. 255-261 ◽  
Author(s):  
Peng Liu ◽  
Rijing Liu ◽  
Yan Zhang ◽  
Yingfeng Liu ◽  
Xiaoming Tang ◽  
...  
Keyword(s):  
Atrial Fibrillation ◽  
3D Printing ◽  
Real Time ◽  
Left Atrial ◽  
Left Atrial Appendage ◽  
3D Models ◽  
Atrial Appendage ◽  
Patient Specific ◽  
The Real ◽  
Echocardiographic Image

Aims and Objectives: The objective of this study was to assess the clinical feasibility of generating 3D printing models of left atrial appendage (LAA) using real-time 3D transesophageal echocardiogram (TEE) data for preoperative reference of LAA occlusion. Background: Percutaneous LAA occlusion can effectively prevent patients with atrial fibrillation from stroke. However, the anatomical structure of LAA is so complicated that adequate information of its structure is essential for successful LAA occlusion. Emerging 3D printing technology has the demonstrated potential to structure more accurately than conventional imaging modalities by creating tangible patient-specific models. Typically, 3D printing data sets are acquired from CT and MRI, which may involve intravenous contrast, sedation, and ionizing radiation. It has been reported that 3D models of LAA were successfully created by the data acquired from CT. However, 3D printing of the LAA using real-time 3D TEE data has not yet been explored. Methods: Acquisition of 3D transesophageal echocardiographic data from 8 patients with atrial fibrillation was performed using the Philips EPIQ7 ultrasound system. Raw echocardiographic image data were opened in Philips QLAB and converted to ‘Cartesian DICOM' format and imported into Mimics® software to create 3D models of LAA, which were printed using a rubber-like material. The printed 3D models were then used for preoperative reference and procedural simulation in LAA occlusion. Results: We successfully printed LAAs of 8 patients. Each LAA costs approximately CNY 800-1,000 and the total process takes 16-17 h. Seven of the 8 Watchman devices predicted by preprocedural 2D TEE images were of the same sizes as those placed in the real operation. Interestingly, 3D printing models were highly reflective of the shape and size of LAAs, and all device sizes predicted by the 3D printing model were fully consistent with those placed in the real operation. Also, the 3D printed model could predict operating difficulty and the presence of a peridevice leak. Conclusions: 3D printing of the LAA using real-time 3D transesophageal echocardiographic data has a perfect and rapid application in LAA occlusion to assist with physician planning and decision making.

scholarly journals A novel method for estimating the real-time dullness of tri-cone oil drill bits

2020 ◽  
Vol 109 ◽  
pp. 104386
Author(s):  
Rafid K. Abbas ◽  
Ali Ghanbarzadeh ◽  
Ali Hassanpour
Keyword(s):  
Real Time ◽  
The Real ◽  
Drill Bits ◽  
Novel Method

A NOVEL SELF-ASSISTED REHABILITATION SYSTEM FOR THE UPPER LIMBS BASED ON VIRTUAL REALITY

2006 ◽  
Vol 03 (03) ◽  
pp. 247-258 ◽  
Author(s):  
GANG SONG ◽  
SHUXIANG GUO
Keyword(s):  
Real Time ◽  
Inertial Sensor ◽  
Virtual Object ◽  
Force Model ◽  
Upper Limbs ◽  
Haptic Devices ◽  
The Real ◽  
Virtual Force ◽  
Rehabilitation System ◽  
Position And Orientation

We propose a novel self-assisted rehabilitation system for the upper limbs of stroke patients. The system mainly includes two haptic devices (PHANTOM Omni), an advanced inertial sensor (MTx) and a computer. The inertial sensor is used to get the real-time orientation of one of the manipulator's hands, and the haptic devices are used to get the real-time positions of the manipulator's two hands and generate the appropriate forces that act on the two hands. We have built a virtual force model to get the accurate magnitude and orientation of the forces. With the change of the position and orientation of the manipulator's hands, the magnitude and orientation of the forces will change accordingly. The manipulator operates the styluses of the two haptic devices to control the position and orientation of the virtual object m, so that it can track the virtual object m′, which moves and rotates randomly in 4 degree-of-freedoms (DOF). It is expected to improve the agility and strength of manipulator's hands in this way. Furthermore, one hand can be used to assist the other one in the rehabilitation, so the self-assistance character is included in the system. The advantages of high safety, compaction and self-assistance will make the system suitable for home rehabilitation.

The Remote Intelligent Monitoring and Fault Diagnosis & Processing System

2012 ◽  
Vol 479-481 ◽  
pp. 2625-2629
Author(s):  
Chang Yi Wang ◽  
Peng Bao ◽  
Zhuo Zhang
Keyword(s):  
Fault Diagnosis ◽  
Real Time ◽  
Network Architecture ◽  
Technical Problem ◽  
Processing System ◽  
Automatic Monitoring ◽  
Structure Design ◽  
Real Time Monitoring ◽  
The Real ◽  
Automated Support

This subject is proposed based on the conflict between the heavy workload for maintenance personnel and few personnel at the geological survey automated master station at present, and the purpose is to solve the problem that the SCADA real-time monitoring system, UPS power supply system, automated support system as well as the automated computer room environment and equipment cannot achieve the real-time monitoring, fault diagnosis and accident processing of the remote unified platform. It proposes the remote online automatic monitoring and intelligent diagnosis and processing system on the basis of the OPEN3000 system platform. It uses the distributed network architecture in the network design to protect the security of database and the video records in the video system; it adopts the modular structure design, and combined with the expert system and the rule database design of database knowledge, thereby solving the technical problem that the real-time monitoring and fault diagnosis of SCADA, UPS, video and many other systems and equipment are being integrated into a unified platform.

scholarly journals A Real-Time Monitoring System of Energy Measurement

2011 ◽  
Vol 1 ◽  
pp. 333-337
Author(s):  
Ai Guo Li ◽  
Jing He ◽  
Jiao Jiao Du ◽  
Qi Yang ◽  
Wen Kai Wang
Keyword(s):  
Real Time ◽  
Monitoring System ◽  
Analysis Data ◽  
Structure Design ◽  
Practical Significance ◽  
Energy Measurement ◽  
Real Time Monitoring ◽  
Time Data ◽  
Real Time System ◽  
The Real

Real-time monitoring of energy measurement is a crucial and challenging field of application research. Development of practical real-time monitoring system of energy measurement has important practical significance. Measurement of a plant's energy requirements are analyzed, The real-time monitoring of energy measurement are based on B / S structure design , and the actual problems are analyzed and discussed in the real-time monitoring system. The system's design and implementation method are analyzed in the practical application, to meet the requirements of real-time system. the real-time data collection, data analysis, data flow management are involved.

scholarly journals A Telepresence System for Therapist-in-the-Loop Training for Elbow Joint Rehabilitation

2019 ◽  
Vol 9 (8) ◽  
pp. 1710 ◽  
Author(s):  
Songyuan Zhang ◽  
Qiang Fu ◽  
Shuxiang Guo ◽  
Yili Fu
Keyword(s):  
Real Time ◽  
Force Feedback ◽  
Interaction Force ◽  
Patient Specific ◽  
Light Weight ◽  
Haptic Interaction ◽  
Robotic Rehabilitation ◽  
Training Strategy ◽  
Specific Manner ◽  
Exoskeleton Device

This paper proposes a new robotic rehabilitation training platform that is motivated by the requirement for adjusting the training strategy and intensity in a patient-specific manner. The platform is implemented for tele-rehabilitation and is comprised of a haptic device operated by therapists, a lightweight exoskeleton worn by patients and a visually shared model. Through the visually shared model, the motion of the therapist and patient are measured and mapped to the motion of the corresponding object. Thus, the force generated by the therapist can be transferred to the patient for delivering training, while real-time force feedback with high transparency can be provided to the therapist so they know the amount of force being applied to patients in real time. In particular, both assistive therapy in the early stages and resistive therapy in the later stages of stroke can be performed. The home-use exoskeleton device is specifically designed to be light-weight and compliant for safety. The patient-exoskeleton and therapist-haptic interaction performance is evaluated by observing the muscle activities and interaction force. Two volunteers were requested to imitate the process of the therapist-in-the-loop training to evaluate the proposed platform.

scholarly journals A Numerical Method of Large-Scale Concrete Displacing Boom Dynamic and Experimental Validation

2014 ◽  
Vol 6 ◽  
pp. 943847 ◽  
Author(s):  
Wu Ren ◽  
Yun-xin Wu ◽  
Zhao-wei Zhang ◽  
Wen-ze Shi
Keyword(s):  
Numerical Method ◽  
Real Time ◽  
Large Scale ◽  
Structure Design ◽  
Hydraulic Actuator ◽  
Long Distance ◽  
The Real ◽  
Time Dynamic ◽  
Large Scale Motion ◽  
Scale Motion

Concrete displacing boom is large-scale motion manipulator. During the long distance pouring the postures needs to frequently change. This makes the real-time dynamic analysis and health monitoring difficult. Virtual spring-damper method is adopted to establish the equivalent hydraulic actuator model. Besides boom cylinder joint clearance is taken into account. Then transfer matrix method is used to build the multibody concrete placing boom model by dividing the system into two substructures. Next typical working conditions displacements and accelerations during the pouring process are studied. The results of the numerical method are correct and feasible compared with Recurdyn software and the experimental ones. So it provides reference to the real-time monitoring and structure design for such light weight large scale motion manipulators.

Development of a Bone Drilling Simulation System With Force Feedback

2005 ◽  
Author(s):  
Xiaoyi Chi ◽  
Qiang Niu ◽  
Viral S. Thakkar ◽  
Ming C. Leu
Keyword(s):  
Collision Detection ◽  
Force Feedback ◽  
Simulation System ◽  
Force Model ◽  
Bone Drilling ◽  
Drilling Force ◽  
Material Parameters ◽  
Drilling Operations ◽  
Drilling Simulation ◽  
Position And Orientation

We present the development of a bone drilling simulation system to simulate on a PC the drilling operations commonly used in orthopedic surgery. A drilling force model is obtained by performing regression of measured drilling force versus process and material parameters. A haptic rendering algorithm consisting collision detection and force generation is also developed. The overall simulation of the developed system runs two threads in parallel: (1) haptics thread, which obtains the position and orientation of the virtual drill and provides force feedback and (2) graphics thread, which is dedicated to real-time rendering of volumetric data.

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