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.

中文翻译：

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骨科手术模拟器的并行触觉渲染

本研究介绍了一种用于模拟外科骨加工操作的触觉渲染算法。所提出的算法是 voxmap 点壳法的一种新变体，其中骨骼和手术工具的几何形状分别由体素和点表示。该算法在数据并行框架中包含计算效率高的方法，以快速查询相交的体素点对、移除相交的骨体素以复制骨移除并计算元素切割力。从复合加工文献中采用了一种新的力模型，可以更准确地计算元素力。还概述了该算法与用于视觉触觉模拟的图形渲染的集成。该算法以最先进的方法为基准，并根据在骨钻孔和关节盂铰孔试验期间收集的先前实验数据进行了验证。结果表明，与现有方法相比，计算效率和力/扭矩预测精度有所提高，最终可以在模拟骨科手术中转化为更高的真实性。