Abstract
PurposeVirtual surgery system can provide us a realistic and immersive training environment, in which haptic force-feedback gives operators ‘touching feeling.’ Appropriate deformation models of soft and hard tissues are required for the achievement of real-time haptic feedback. To improve accuracy of modeling and haptic feedback simulation for maxillofacial virtual surgery, mechanical characteristics of soft and hard tissues should be explored.MethodsCraniofacial soft tissues from one male and female cadavers were divided into two layers: skin and muscle. Maxillofacial tissues were divided into frontal, chin, temporalis, masseter regions. Insertion and cutting process were conducted using VMX42 5-axis linkage system and recorded by piezoelectric dynamometer. Maximum stiffness values were analyzed, and insertion curves before puncture were fitted using a polynomial model. Elasticity modulus and hardness of maxillofacial hard tissues were measured and analyzed using Berkovich nanoindentation.ResultsTissues in different maxillofacial regions, as well as from different layers (skin and muscle), displayed various mechanical performance. Maximum stiffness values and cutting force of soft tissues in male and female had significant difference. The third-order polynomial was demonstrated to fit the insertion curves well before puncture. Furthermore, elasticity modulus and hardness of enamel were significantly greater than that of zygoma, maxilla and mandible.ConclusionMechanical properties of hard tissues are relatively stable, which can be applied in virtual surgery system for physical model construction. Insertion model and cutting force for soft tissues are meaningful and applicable and can be utilized to promote the accuracy of response for haptic feedback sensations.
Highlights
Surgical training is a long procedure, which consists of knowledge acquisition and experience obtain, gained by assisting or performing surgical procedures on patients under appropriate supervision
Craniofacial hard and soft tissues were harvested from one male and female donated cadavers killed in car accident, aged 40 and 30 years old, respectively, and samples were stored in frozen condition
To precisely describe mechanical properties of soft tissues in different maxillofacial areas, they were divided into two layers: one layer consisting of epidermis, dermis and subcutaneous tissue, the other including muscle tissue
Summary
Surgical training is a long procedure, which consists of knowledge acquisition and experience obtain, gained by assisting or performing surgical procedures on patients under appropriate supervision. Tactile force perception is vital in surgical performance. This “feeling” required in surgery can only be obtained through long-term practice and training [1]. Virtual surgery system can provide us a realistic and immersive training environment, in which haptic force-feedback gives operators ‘touching feeling,’ and realtime image feedback makes the experience more vivid [2, 3]. Surgeons can improve their operation skills, shorten clinical training time and reduce medical accidents by virtual system
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