Continuous Collision Detection for Virtual Proxy Haptic Rendering of Deformable Triangular Mesh Models

Ding, Huaiyu; Mitake, Hironori; Hasegawa, Shoichi

doi:10.1109/toh.2019.2934104

Cited by 11 publications

(10 citation statements)

References 32 publications

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“…Ding et al [2] proposed a method utilizing triangle-proxy CCD and Proxy Pop-out processes to solve this problem. Triangle-proxy CCD computes the CCD between the triangle and the proxy by solving the coplanar condition between the moving triangle and the proxy center.…”

Section: Haptic Rendering With Continuous Collision Detectionmentioning

confidence: 99%

“…As described in Sect. 2.2, CCD between the proxy and dynamic triangular models can be computed using a sphere proxy [2]. Here, we extend the method used in [2] via the MSP model.…”

Section: Multi-sphere Proxy Model For a Virtual Toolmentioning

confidence: 99%

“…The particle of the virtual tool is called the tool particle, and the particle representing the device is called the device particle. Since we apply CCD and proxy method described in [2] for each tool particle, we use spherical particles instead of ellipsoids for better performance. However, since ellipsoids can be used to represent a more precise contact model compared to spheres, it will be interesting to conduct further research using ellipsoids.…”

Section: Multi-sphere Proxy Model For a Virtual Toolmentioning

confidence: 99%

“…Haptic Contact Force Computation. The contact force applied to the virtual object is computed using the method in [2], which uses a distributed pointlike contact force applied as an external force of PBD to the corresponding OP particle of the virtual object.…”

Section: Six Degree-of-freedom Haptic Renderingmentioning

confidence: 99%

“…In this paper, we propose a multi-sphere proxy (MSP) model to achieve 6-DoF haptic interactions with ZoD. In addition, this method is also able to perform CCD by using the method from [2] to handle collisions between the proxy sphere and triangle meshes.…”

Section: Introductionmentioning

confidence: 99%

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A 6-DoF Zero-Order Dynamic Deformable Tool for Haptic Interactions of Deformable and Dynamic Objects

Ding

Hasegawa

2020

Lecture Notes in Computer Science

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Continuous collision detetion is required for haptic interactions with thin and fast-moving objects. However, previous studies failed to eliminate the force artifacts caused by the tool's inertia. In this paper, we propose a multi-sphere proxy method for a 6-DoF deformable virtual tool with continuous collision detection. We use Zero-order Dynamics to avoid force artifacts caused by the tool's inertia. In addition, we eliminate the "tunneling" problem introduced by the use of Zero-order Dynamics. As a result, we support fast motions of both the tool and the virtual object with sphere-mesh-level contacts and real-time simulation. Stability is guaranteed via a position-based dynamics simulator and an optional multi-rate architecture.

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Section: Haptic Rendering With Continuous Collision Detectionmentioning

confidence: 99%

“…As described in Sect. 2.2, CCD between the proxy and dynamic triangular models can be computed using a sphere proxy [2]. Here, we extend the method used in [2] via the MSP model.…”

Section: Multi-sphere Proxy Model For a Virtual Toolmentioning

confidence: 99%

Section: Multi-sphere Proxy Model For a Virtual Toolmentioning

confidence: 99%

Section: Six Degree-of-freedom Haptic Renderingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A 6-DoF Zero-Order Dynamic Deformable Tool for Haptic Interactions of Deformable and Dynamic Objects

Ding

Hasegawa

2020

Lecture Notes in Computer Science

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Autonomous path planning for robot‐assisted pelvic fracture closed reduction with collision avoidance

Pan

Chen

et al. 2022

Robotics Computer Surgery

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Background: Robot-assisted pelvic fracture closed reduction (RPFCR) positively contributes to patient treatment. However, the current path planning suffers from incomplete obstacle avoidance and long paths. Method:A collision detection method is proposed for applications in the pelvic environment to improve the safety of RPFCR surgery. Meanwhile, a defined orientation planning strategy (OPS) and linear sampling search (LSS) are coupled into the A* algorithm to optimise the reduction path. Subsequently, pelvic in vitro experimental platform is built to verify the augmented A*algorithm's feasibility. Results:The augmented A* algorithm planned the shortest path for the same fracture model, and the paths planned by the A* algorithm and experience-based increased by 56.12% and 89.02%, respectively. Conclusions:The augmented A* algorithm effectively improves surgical safety and shortens the path length, which can be adopted as an effective model for developing RPFCR path planning. K E Y W O R D SA* algorithm, collision detection, path planning, pelvic closed reduction | INTRODUCTIONUnstable pelvic fractures are the most severe injury in the body, accounting for 2%-8% of all fractures and a mortality rate of 6%-31%. 1,2 A safe and precise anatomical reduction is the cornerstone of treating pelvic fractures. 3 As a modern technology with high precision, reliability, and intelligence, robotics is widely used in medical, industrial, and aerospace fields. Therefore, the reduction movements during pelvic fracture closed reduction surgery can be performed by controlling the robot. [4][5][6] With the rapid development and application of medical robotics, 7 the path planning for robot-assisted pelvic fracture closed reduction (RPFCR) has attracted broad researchers. The RPFCR path planning can be divided into two steps: collision detection and path search.The pelvic environment is complex, with many soft and hard tissues. 8 Thus, it is necessary to detect collisions between bones or between bones and soft tissues in preoperative path planning. Meanwhile, a rational and effective path search method is required to cut the surgical intervention time.The main contribution of this paper is to propose a path-planning method for RPFCR, which improves the surgery's safety and the universality of the path planning and reduces the length of the reduction path. Firstly, the fracture model is discretised into computable point cloud data. Based on the point set of the sacrum, the space where the sacrum is located is divided into several small subspaces using the Octree data structure. Then, the point set of the dislocated ilium is traversed to conduct overlap tests with the sacral subspace to detect the collision between objects. Secondly, this paper defined an orientation planning strategy (OPS), which means changing the ilium's orientation with a small step length to avoid high reduction resistance caused by a one-time adjustment. And a linear sampling search (LSS) method is proposed to shorten the reduction path further. Finally, the

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High–Fidelity Haptic Rendering Through Implicit Neural Force Representation

Vlachos,

Moustakas

2024

Lecture Notes in Computer Science

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Continuous Collision Detection for Virtual Proxy Haptic Rendering of Deformable Triangular Mesh Models

Cited by 11 publications

References 32 publications

A 6-DoF Zero-Order Dynamic Deformable Tool for Haptic Interactions of Deformable and Dynamic Objects

A 6-DoF Zero-Order Dynamic Deformable Tool for Haptic Interactions of Deformable and Dynamic Objects

Autonomous path planning for robot‐assisted pelvic fracture closed reduction with collision avoidance

High–Fidelity Haptic Rendering Through Implicit Neural Force Representation

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