The invention discloses a multipoint 
contact force sense feedback 
system orienting 
virtual reality dental department operation training. In the multipoint 
contact force sense feedback 
system, a force feedback 
equipment state reading module (1) reads a 
handle motion trail of force feedback equipment (44), converts the 
handle motion trail into a force sense tool terminal 
pose and outputs the force sense tool terminal 
pose to a tool model (41) and a force / torque computation module (4); a spherical tree 
collision detection module (2) carries out collision rejection 
processing on a dynamic force sense tool sphere tree output by the tool model (41) and a static 
dentition sphere tree output by a multilayer tooth model (42) by adopting a layering 
recursion collision detection strategy, so as to obtain all the intersected sphere pairs of leaf nodes; a multipoint contact 
collision response module (3) processes all the intersected spheres of the leaf nodes by adopting a 
collision response optimization model, so as to obtain a terminal 
pose of a graphic tool; and the force / torque computation module (4) processes the terminal pose of the graphic tool according to a generalized 
spring force model, so as to obtain a feedback force / torque, and the feedback force / torque is acted onto the force feedback equipment (44). The multipoint 
contact force sense feedback 
system disclosed by the invention can accurately solve a 
contact position and a posture of the graphic tool and a virtual 
dentition surface during continuous 
collision detection.