Impulse-based rendering methods for haptic simulation of bone-burring

Qiong Wang, Hui Chen, Wen Wu, Jing Qin, Pheng Ann Heng

Research output: Journal article publicationJournal articleAcademic researchpeer-review

19 Citations (Scopus)


Bone-burring is a common procedure in orthopedic, dental, and otologic surgeries. Virtual reality (VR)-based surgical simulations with both visual and haptic feedbacks provide novice surgeons with a feasible and safe way to practice their burring skill. However, creating realistic haptic interactions between a high-speed rotary burr and stiff bone is a challenging task. In this paper, we propose a novel interactive haptic bone-burring model based on impulse-based dynamics to simulate the contact forces, including resistant and frictional forces. In order to mimic the lateral and axial burring vibration forces, a 3D vibration model has been developed. A prototype haptic simulation system for the bone-burring procedure has been implemented to evaluate the proposed haptic rendering methods. Several experiments of force evaluations and task-oriented tests were conducted on the prototype system. The results demonstrate the validity and feasibility of the proposed methods.
Original languageEnglish
Article number6095548
Pages (from-to)344-355
Number of pages12
JournalIEEE Transactions on Haptics
Issue number4
Publication statusPublished - 27 Nov 2012
Externally publishedYes


  • Haptic simulation of bone-burring
  • impulse-based dynamics
  • surgical simulation
  • vibration modeling
  • virtual reality

ASJC Scopus subject areas

  • General Medicine
  • Human-Computer Interaction
  • Computer Science Applications


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