1. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 System framework Figure Legend:

2. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 A voxel cell and its nodes Figure Legend:

3. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 Illustration of force model Figure Legend:

4. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 State transitions of torque modes Figure Legend:

5. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 Illustration of torque model Figure Legend:

6. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 Flowchart of the force computation kernel Figure Legend:

7. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 The top-down collision detection algorithm Figure Legend:

8. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 Force integration based on reduction tree Figure Legend:

9. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 Graphic rendering results: (a) ROI selection; (b) real-time interaction during drilling; (c) penetration of the maxillary sinus; and (d) real-time interaction during implant insertion Figure Legend:

10. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 Haptic rendering results of drilling forces Figure Legend:

11. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 Haptic rendering results of resistance torques Figure Legend:

12. Date of download: 7/8/2016 Copyright © ASME. All rights reserved. From: Graphic Processing Units (GPUs)-Based Haptic Simulator for Dental Implant Surgery J. Comput. Inf. Sci. Eng. 2013;13(4):041005-041005-9. doi:10.1115/1.4024972 Performance comparison between CPU and GPU Figure Legend: