Haptic rendering for multi-phase tooth extraction process.

Tooth extraction simulation with force feedback can provide a valuable training tool for dental students, familiarizing them with the detailed motion and force patterns involved in this procedure. This simulation encounters two major challenges - replicating the forceps' 7-DoF motion and accurately simulating the distinct phases of tooth extraction. This paper presents a comprehensive haptic simulation framework for simulating tooth extraction with force feedback, combining both hardware and software solutions. A pivotal feature of this system is the 7-DoF haptic rendering algorithm capable of simulating the 7-DoF motion of forceps. Additionally, a haptic handle resembling the extraction forceps and offering robust connectivity is developed. Furthermore, a multi-phase tooth extraction framework is proposed to simulate the entire tooth extraction process. This framework incorporates physical models to emulate the haptic characteristics of different extraction phases and includes predefined entry criteria for each phase to achieve accurate identification and seamless transitions. The system's effectiveness is validated through objective and subjective experiments, confirming its ability to faithfully replicate the unique haptic features of each extraction phase. Feedback from dental novices and experts indicates that this system could make a significant contribution to tooth extraction training, providing distinct advantages over traditional oral model practices.