Purpose: Virtual surgery system can provide us a realistic and immersive training environment, in which haptic force-feedback gives operators 'touching feeling.' Appropriate deformation models of soft and hard tissues are required for the achievement of real-time haptic feedback. To improve accuracy of modeling and haptic feedback simulation for maxillofacial virtual surgery, mechanical characteristics of soft and hard tissues should be explored.
Methods: Craniofacial soft tissues from one male and female cadavers were divided into two layers: skin and muscle. Maxillofacial tissues were divided into frontal, chin, temporalis, masseter regions. Insertion and cutting process were conducted using VMX42 5-axis linkage system and recorded by piezoelectric dynamometer. Maximum stiffness values were analyzed, and insertion curves before puncture were fitted using a polynomial model. Elasticity modulus and hardness of maxillofacial hard tissues were measured and analyzed using Berkovich nanoindentation.
Results: Tissues in different maxillofacial regions, as well as from different layers (skin and muscle), displayed various mechanical performance. Maximum stiffness values and cutting force of soft tissues in male and female had significant difference. The third-order polynomial was demonstrated to fit the insertion curves well before puncture. Furthermore, elasticity modulus and hardness of enamel were significantly greater than that of zygoma, maxilla and mandible.
Conclusion: Mechanical properties of hard tissues are relatively stable, which can be applied in virtual surgery system for physical model construction. Insertion model and cutting force for soft tissues are meaningful and applicable and can be utilized to promote the accuracy of response for haptic feedback sensations.
Keywords: Elasticity modulus; Haptic feedback; Hardness; Insertion and cutting; Maxillofacial soft and hard tissues; Virtual surgery.