Cutting force model of dental training system

This paper presents a cutting force model for dental training system with haptic display capability. The force model is proposed by theoretic analysis of the cutting force between dental tools and tooth. A damping matrix is developed for obtaining a unified formulation for all components of cutting forces. All factors that affect the cutting force are considered in the model by including a number of parameters. These parameters are identified by tooth-cut experiments, which measure the cutting force with a six-dimensional force sensor. A prototype system of haptic simulation is developed to test the model. Dentists performing virtual operation on the system have confirmed the realistic sense of cutting force.