title: Hierarchical spatial hashing-based collision detection and hybrid collision response in a haptic surgery simulator.
abstract: 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.
authors.affiliation: Computer Science and Engineering Department, Shanghai Jiao Tong University, Shanghai, People's Republic of China.
authors.forename: X
authors.initials: X
authors.lastname: Li
authors.forename: L
authors.initials: L
authors.lastname: Gu
authors.forename: S
authors.initials: S
authors.lastname: Zhang
authors.forename: J
authors.initials: J
authors.lastname: Zhang
authors.forename: G
authors.initials: G
authors.lastname: Zheng
authors.forename: P
authors.initials: P
authors.lastname: Huang
authors.forename: J
authors.initials: J
authors.lastname: Xu
mesh_terms: 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