Journal of South China University of Technology(Natural Science) >

2025 , Vol. 53 >Issue 9: 76 - 85

DOI: https://doi.org/10.12141/j.issn.1000-565X.250025

Mechanical Engineering

Visual and Haptic Interaction Algorithm for Orthopedic Virtual Surgery

  • WANG Qinghui ,
  • FANG Daoxin ,
  • CHI Zipeng ,
  • NI Jianlong ,
  • XIE Hailong ,
  • LI Jingrong ,
  • LI Chunhai
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  • 1.School of Mechanical and Automotive Engineering，South China University of Technology，Guangzhou 510640，Guangdong，China
    2.Guangdong Laboratory of Artificial Intelligence and Digital Economy （Guangzhou），Guangzhou 510335，Guangdong，China
    3.School of Design，South China University of Technology，Guangzhou 510006，Guangdong，China
    4.Orthopedic Surgery，Sun Yat-sen Memorial Hospital，Sun Yat-sen University，Guangzhou 510120，Guangdong，China
王清辉（1972—），男，博士，教授，主要从事CAD/CAM技术、VR交互研究。E-mail： wqh@scut.edu.cn
李静蓉（1973—），女，博士，教授，主要从事虚拟仿真与VR交互研究。E-mail： lijr@scut.edu.cn

Received date: 2025-01-20

  Online published: 2025-03-21

Supported by

the National Key R & D Program of China(2022YFB4500600);the Natural Science Foundation of Guangdong Province(2022A1515010100)

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Abstract

Real-time visual and precise haptic interaction algorithms are critical for achieving accurate “tactile sensation” in virtual surgical training. In order to reduce storage space, improve computational efficiency, accurately calculate cutting forces during bone milling, and balance the visual and haptic interaction effect, this paper proposed a visual and haptic interaction algorithm based on the Tri-dexel model. Firstly, the Tri-dexel model was employed to represent the bone and the surgical milling tool. Real-time geometric deformation during the virtual bone milling was achieved through boolean operations and rapid surface reconstruction algorithms. Secondly, by integrating the geometric parameters of the surgical milling tool, a haptic interaction model based on the micro-element cutting force was proposed. This model utilizes the boolean operation results between the bone and surgical milling tool to quickly and accurately solve the instantaneous undeformed chip thickness. Thirdly, the cutting force coefficients were identified and the haptic interaction model was validated through milling experiments to achieve haptic rendering. Finally, an orthopedic virtual surgical training system was built based on the above-mentioned algorithms, and the interaction algorithm was tested and evaluated experimentally. The results show that the predicted forces align with experimental measurements, with an average force error of less than 7%. The visual and haptic interactive algorithm satisfies a visual refresh rate of 30 Hz and a haptic refresh rate of 1 kHz. The developed orthopedic virtual surgical training system provides users with a highly immersive virtual bone milling training experience that can effectively improve users’ hand-eye coordination.

Key words： virtual surgery; force feedback; haptic interaction; Tri-dexel model; cutting force

Cite this article

WANG Qinghui , FANG Daoxin , CHI Zipeng , NI Jianlong , XIE Hailong , LI Jingrong , LI Chunhai . Visual and Haptic Interaction Algorithm for Orthopedic Virtual Surgery[J]. Journal of South China University of Technology(Natural Science), 2025 , 53(9) : 76 -85 . DOI: 10.12141/j.issn.1000-565X.250025

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