Hierarchical spatial hashing-based collision detection and hybrid collision response in a haptic surgery simulator.
BACKGROUND
Collision detection and response are two crucial aspects in a virtual surgery simulator, which significantly affect the output in real-time response and simulation realism.


METHODS
We propose a collision detection algorithm which employs a novel hierarchical spatial hashing to effectively achieve appropriate parameters. Thereafter we present a hybrid collision response scheme which takes the advantages of three traditional methods and introduces a 'force filter' to obtain more realistic feedback force.


RESULTS
The average performance of our proposed collision detection has been improved by 15.65% against the traditional method. After collision response processing the smoothness of feedback force has been greatly enhanced, and this indicates a more realistic feedback force without restricting the range of force inputs.


CONCLUSIONS
The experimental results reveal that the proposed approaches can achieve the real-time response and simulation realism required by a haptic surgery simulator.
Li
X
X
Computer Science and Engineering Department, Shanghai Jiao Tong University, Shanghai, People's Republic of China.
Gu
L
L
Zhang
S
S
Zhang
J
J
Zheng
G
G
Huang
P
P
Xu
J
J
D000465:Algorithms; D003198:Computer Simulation; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D008954:Models, Biological; D010812:Physical Stimulation / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014110:Touch / Q000502:physiology*; D014584:User-Computer Interface