Accurate Visual and Haptic Burring Surgery Simulation Based on a Volumetric Model

Burring surgery for cutting fine structures is widely used in orthopedic, oral and maxillofacial, ENT and neurosurgery departments. Our method distances every voxel along multiple directions to represent fine tissue removal at every haptic step. Our method then detects which parts of the bur surface cutting tissues to summate the burring force from loads on the cutting parts. An example of spine surgery shows our simulations can provide high-quality burred surfaces and fine haptic feeling.