Table 1.

Utilities of different rendering methods in implant simulation.

	Penetration methods	Constraint methods	Physical constraint methods	State-switching method	Our work
6 DoF	Yes	Yes	No	Yes	Yes
Little penetration	No	Yes	Yes	Yes	Yes
Different tools	Yes	Yes	No	Yes	Yes
Sliding simulation	Yes	Yes	No	Yes	Yes
Drilling simulation	Yes	Yes	Yes	No	Yes
Insertion simulation	Yes	Yes	Yes	Yes	Yes
Insertion precision	Low	Middle	High	NA	High
Screwing simulation	No	No	No	No	Yes