Hierarchical spatial hashing‐based collision detection and hybrid collision response in a haptic surgery simulator

Abstract

The experimental results reveal that the proposed approaches can achieve the real-time response and simulation realism required by a haptic surgery simulator.

Advances in collision detection and non‐linear finite mixed element modelling for improved soft tissue simulation in craniomaxillofacial surgical planning

“…Some methods based on bounding volume hierarchies (BVHs) or spatial subdivision are successfully applied to the detection of the contact between the surgical tool and an organ in the surgical simulation (21)(22)(23)(24). However, for the craniofacial surgical simulation presented in this work, collision detection is not simply to detect the touch of objects.…”

A review of collision detection for deformable objects

“…BVH is usually used in combination with other methods to speed up CD. For example, the combination of BVH and spatial partitioning methods 68,72 is used for broad-phase CD, and has a higher detection speed than the classic spatial partitioning method; Combining BVH with the distance fields method to optimize the distance fields method 105 ; The combination of BVH and normal cone method achieves a higher rejection rate than the original method 121 ; The radial view-based culling method cannot be separated from the BVH, because it is based on the BVH to further implement SCD. 14,117 Although all methods can detect collisions for deformable objects in some aspects, there is no optimal one method or worst because these methods have different application conditions; for example, some methods apply to independent deformable individuals, some methods apply to the n-body environment, some methods apply to closed surface meshes, and some methods apply to convex polyhedron data models.…”

“…In the study of laparoscopic surgery simulation, Li and Gu 68 combined space partition with BVH and proposed a hierarchical spatial hashing method for broad-phase CD. The method, which uses appropriate subdivisions, has a significant performance improvement than the conventional spatial hashing methods.…”

A novel laparoscopic surgery simulator: System and evaluation

“…A lot of experiments about efficiency and stability of our system have been done by researchers and developers [8,9,12], but it is more important to evaluate the system from the doctors' view, since they are the end user of the surgery training system…”

“…A hybrid collision response method [9] is devised for rapid generation of reasonable deformation and continuous force feedback. It uses the penetration depth method [10] for feedback force generation which keep precise contact surface using the contact surface method [11].…”