title: Multiple contact approach to collision modelling in surgical simulation.
abstract: In this paper we present a technique for the modelling of realistic collisions between arbitrary rigid surgical tools and deformable geometry that is independent of the resolution of colliding objects. We use a spatial hash table to provide an efficient narrow-phase collision detection and modelling backend. This is combined with previous work on collision modelling in our surgical simulation environment to model realistic collisions and collision response at haptic rates.
authors.affiliation: CSIRO ICT Centre, BioMedIA Lab Cnr Vimiera and Pembroke Rds, Marsfield NSW 2122, Australia.
authors.forename: Bhautik
authors.initials: B
authors.lastname: Joshi
authors.forename: Bryan
authors.initials: B
authors.lastname: Lee
authors.forename: Dan C
authors.initials: DC
authors.lastname: Popescu
authors.forename: Sébastien
authors.initials: S
authors.lastname: Ourselin
mesh_terms: D001315:Australia; D003198:Computer Simulation; D006801:Humans; D013525:Surgical Instruments; D013514:Surgical Procedures, Operative