Collision detection algorithm based on changeable direction hull in virtual surgery

Abstract

In order to achieve fast collision detection in robot assisted virtual surgery, an algorithm based on changeable direction hull was proposed. It combined fixed direction hull algorithm with the two characteristics in virtual scene, complex motion of surgical instrument end and continuous deformation of soft tissues. Action mode between instruments and soft tissue was analyzed and deformation of soft tissue was predicted. Then the set of box directions was changed to improve the tightness of bounding volume trees. Accordingly, collision detection was accelerated with decreased interaction tests. The simulation results show that collision information can be obtained through the proposed algorithm and the new method implements faster compared with fixed direction hull algorithm.