title: A GPU-implemented physics-based haptic simulator of tooth drilling.
abstract: BACKGROUND
  Restorative dentistry simulation is one of the most challenging applications involving virtual reality and haptics. This paper presents a haptics-based tooth drilling simulator for dental education.
  
  
  METHODS
  Unlike the existing methods, the force model is based on physical properties which consider the geometrical model of the tool. In order to provide uniform force feedback from tooth layers, a new approach is suggested in which the physical properties of each tooth voxel are subsequently used in calculating the feedback force. We implement a hashing algorithm for collision detection due to its reduced time complexity. The haptics algorithm has been implemented on a graphics processing unit using the CUDA toolbox.
  
  
  RESULTS
  In parallel processing, the speed of haptic loop execution is increased almost 8 times.
  
  
  CONCLUSIONS
  The proposed idea for force calculation leads to a uniform sensation of force. An important feature of the designed system is the capability to run in a real-time fashion.
authors.affiliation: Department of Robotic Engineering, Amirkabir University of Technology, Tehran, Iran.
authors.forename: M
authors.initials: M
authors.lastname: Razavi
authors.affiliation: Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran.|New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran.
authors.forename: H A
authors.initials: HA
authors.lastname: Talebi
authors.affiliation: New Technologies Research Centre (NTRC), Amirkabir University of Technology, Tehran, Iran.
authors.forename: M
authors.initials: M
authors.lastname: Zareinejad
authors.affiliation: Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran.
authors.forename: M R
authors.initials: MR
authors.lastname: Dehghan
mesh_terms: D003196:Computer Graphics / Q000295:instrumentation*; D003198:Computer Simulation; D003194:Computer-Assisted Instruction / Q000295:instrumentation / Q000379:methods; D003737:Dental Cavity Preparation / Q000295:instrumentation*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D008954:Models, Biological; D065287:Robotic Surgical Procedures / Q000193:education* / Q000295:instrumentation / Q000379:methods; D012815:Signal Processing, Computer-Assisted / Q000295:instrumentation; D013314:Stress, Mechanical; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014070:Tooth / Q000033:anatomy & histology / Q000601:surgery*; D014110:Touch; D014584:User-Computer Interface
keywords: haptic systems; parallelism; tooth drilling; virtual reality; voxel