An investigation of haptic modelling for oral and maxillofacial surgical training and planning

Li, Mutian and Smart, Susie and Li, Youhua and Ayoub, Ashraf and Drikakis, Dimitris and Yan, Xiu-Tian (2021) An investigation of haptic modelling for oral and maxillofacial surgical training and planning. Journal of Robotics and Automation, 5 (1). pp. 227-235. ISSN 2642-4312 (

[thumbnail of Li-etal-JRA-2021-An-investigation-of-haptic-modelling-for-oral-and-maxillofacial]
Text. Filename: Li_etal_JRA_2021_An_investigation_of_haptic_modelling_for_oral_and_maxillofacial.pdf
Accepted Author Manuscript
License: Creative Commons Attribution 4.0 logo

Download (1MB)| Preview


This research investigates a haptic modelling approach where high resolutions are required for sensibility of force feedback in a target application - dental surgical operations. In particular the research focus is on maxillofacial deformity operations. The main aim of the research is to increase the realism of a computer model based simulation system that allows dental students and surgeons to feel like as if they were carrying out a real dental surgery procedure. A haptic framework has been designed and implemented to demonstrate its suitability to achieve the above aim. A generic set of jaw bone models have been developed and validated by collaborating surgeon from Glasgow University Dental Hospital& School. The model can be customized and obtained for each specific patient. A chosen model can be used to control the force feedback generated by a haptic device in order to give a realistic force feedback representation and experience for a user. This meets the requirements of the targeted dental operations. The simulation model is constructed based on force calculation model, which include the consideration of mechanical properties of bones, cutting tools used and region of cut. This haptical jaw bone model has been generalised based on a contact mechanic model Hertz’s equation and is used as the driving haptical model for the study. Using a haptic device as a controller, a user can perform relevant operations, such as cutting procedure and manipulating bone segments from the virtual jaw bone model. The paper describes a frame work for a haptic assisted surgical plan (HASP) for surgical planning of dentofacial deformities. The haptic system generates the corresponding force feedback to a user as in a real world operation. It is planed that validation and feedback experiments will be conducted with dental students and surgeons to assess the effectiveness of the system in providing assistance for oral and maxillofacial surgical planning and training.