Parallel Haptic Rendering for Orthopedic Surgery Simulators

Mohammadreza Faieghi, S. Farokh Atashzar, O. Remus Tutunea-Fatan, Roy Eagleson

Research output: Contribution to journalArticlepeer-review


This study introduces a haptic rendering algorithm for simulating surgical bone machining operations. The proposed algorithm is a new variant of the voxmap point-shell method, where the bone and surgical tool geometries are represented by voxels and points, respectively. The algorithm encompasses computationally efficient methods in a data-parallel framework to rapidly query intersecting voxel-point pairs, remove intersected bone voxels to replicate bone removal and compute elemental cutting forces. A new force model is adopted from the composite machining literature to calculate the elemental forces with higher accuracy. The integration of the algorithm with graphic rendering for visuo-haptic simulations is also outlined. The algorithm is benchmarked against state-of-the-art methods and is validated against prior experimental data collected during bone drilling and glenoid reaming trials. The results indicate improvements in computational efficiency and the force/torque prediction accuracy compared to the existing methods, which can be ultimately translated into higher realism in simulating orthopedic procedures.

Original languageEnglish (US)
Article number9158351
Pages (from-to)6388-6395
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
StatePublished - Oct 2020


  • Haptics
  • bone machining
  • glenoid reaming
  • surgery simulation
  • virtual reality
  • visuo-haptics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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