햅틱 피드백 장치를 이용한 치과 수술 시뮬레이션
Dental Surgery Simulation Using Haptic Feedback Device
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초록
가상 현실 시뮬레이션은 다양한 분야에서의 교육과 훈련에 활용이 되며, 특히 최근에는 의료 분야에서 많이 사용되고 있다. 교육/훈련용 시뮬레이터는 의사가 실제 수술 도구를 이용하여 실제 환자에 대해 처치를 하는 것과 같은 느낌이 나게 하는 촉감/역감 생성 및 영상/음향 출력 하드웨어와여기에 실감 나는 영상과 촉감을 생성해주는 소프트웨어로 이루어진다. 기존의 시뮬레이터들은 수술 시에 사용되는 다양한 수술 도구들을 모사하기위해 다양한 형태의 하드웨어들을 사용해야 하므로 복잡하고 비용이 많이 소요되는 문제가 있다. 이 논문에서는 포스 피드백 장치와 변형 가능한햅틱 컨트롤러를 이용한 치과 수술 시뮬레이션 시스템을 제안한다. 햅틱 하드웨어들은 수술 도구와 수술 부위의 충돌 여부를 파악하고 그에 따른저항감과 진동감을 제공한다. 특히 길이 변화, 굽힘과 같은 변형이 가능한 햅틱 컨트롤러는 여러 수술 도구들의 형태에 따라 느껴지는 다양한감각을 표현할 수 있다. 사용자가 햅틱 피드백 장치를 조작하면 햅틱 피드백 장치의 움직임이나 버튼 클릭 등의 이벤트가 시뮬레이션 시스템에전달되어 치과용 수술 도구와 구강 내부 모델들 사이의 상호작용이 발생하고 이에 따른 햅틱 피드백이 햅틱 피드백 장치로 전달된다. 이러한 기반기술들을 활용하여 정교한 3차원 모델로 표현된 가상 환경에서 대표적인 치과 수술기법인 매복 사랑니 발치 수술의 현실적인 훈련 경험을 제공한다.
Abstract
Virtual reality simulations are used for education and training in various fields, and are especially widely used in the medical fieldrecently. The education/training simulator consists of tactile/force feedback generation and image/sound output hardware that providesa sense similar to a doctor's treatment of a real patient using real surgical tools, and software that produces realistic images and tactilefeedback. Existing simulators are complicated and expensive because they have to use various types of hardware to simulate varioussurgical instruments used during surgery. In this paper, we propose a dental surgical simulation system using a force feedback deviceand a morphable haptic controller. Haptic hardware determines whether the surgical tool collides with the surgical site and providesa sense of resistance and vibration. In particular, haptic controllers that can be deformed, such as length changes and bending, canexpress various senses felt depending on the shape of various surgical tools. When the user manipulates the haptic feedback device,events such as movement of the haptic feedback device or button clicks are delivered to the simulation system, resulting in interactionbetween dental surgical tools and oral internal models, and thus haptic feedback is delivered to the haptic feedback device. Using thesebasic techniques, we provide a realistic training experience of impacted wisdom tooth extraction surgery, a representative dental surgerytechnique, in a virtual environment represented by sophisticated three-dimensional models.
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