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

International Journal of Medical Robotics and Computer Assisted Surgery

Volumn 4, Issue 1, 2008, Pages 77-86

  Li, X ^a   Gu, L ^a   Zhang, S ^a   Zhang, J ^a   Zheng, G ^a   Huang, P ^a   Xu, J ^b  

^a SHANGHAI JIAO TONG UNIVERSITY   (China)

^b SHANGHAI JIAO TONG UNIVERSITY SCHOOL OF MEDICINE   (China)

Author keywords

Collision detection; Collision response; Feedback force; Virtual surgery

Indexed keywords

FEEDBACK; SURGERY;

COLLISION DETECTION; COLLISION DETECTION ALGORITHM; COLLISION RESPONSE; FEEDBACK FORCES; HAPTICS; REAL TIME RESPONSE; REALTIME SIMULATION (RTS); SPATIAL HASHING; SURGERY SIMULATOR; VIRTUAL SURGERY;

SIMULATORS;

ALGORITHM; ARTICLE; COMPUTER PROGRAM; FEEDBACK SYSTEM; FORCE; LAPAROSCOPIC SURGERY;

EID: 41149170222     PISSN: 14785951     EISSN: 1478596X     Source Type: Journal    
DOI: 10.1002/rcs.177     Document Type: Article

References (23)

1. Sud A, Govindaraju N, Gayle R, Kabul I, and Manocha D. Fast proximity computation among deformable models using discrete Voronoi diagrams. ACM Transactions on Graphics, 25(3): 1144-1153, July 2006.
2. Govindaraju NK, Knott D, Jain N, Kabul I, Tamstorf R, Gayle R, Lin MC, Manocha D. Interactive collision detection between deformable models using chromatic decomposition. International Conference on Computer Graphics and Interactive Techniques 2005, Dunedin, New Zealand, 991-999.
3. Galoppo N, Otaduy MA, Mecklenburg P, et al. Accelerated proximity queries for haptic rendering of deformable models. World Haptics Conference, Tsukuba, Japan, 2007.
4. Turk G. Interactive Collision Detection for Molecular Graphics. PhD Thesis, University of North Carolina, 1989.
5. Mirtich B. Efficient algorithms for two-phase collision detection. In Practical Motion Planning in Robotics: Current Approaches and Future, edited by K. Gupta and A.P. del Pobil, Cambridge University Press New York, NY, USA 1998; 203-223.
6. Teschner M, Heidelberger B, Mueller M, et al. Optimized spatial hashing for collision detection of deformable objects. Proc Vision Model Visualiz 2003; 47-54.
7. Mathias E, Gu LX. Hierarchical spatial hashing for real-time collision detection. Shape Modeling and Applications 2007; IEEE International Conference, June 2007; 61-70.
8. Terzopoulos D, Platt J, Barr A, et al. Elastically deformable models. ACM SIGGRAPH Comput Graphics 1987; 21(4): 205-214.
9. Ruspini DC, Kolarov K, Khatib O. The haptic display of complex graphical environments. International Conference on Computer Graphics and Interactive Techniques, New York, NY, USA, 1997; 345-352.
10. Spillmann J, Teschner M. Contact surface computation for coarsely sampled deformable objects. Proc Vision Model Visualization 2005, Erlangen, Germany, 289-296.
11. Barbagli F, Prattichizzo D, Salisbury K. A multi-rate approach to haptic interaction with deformable objects: single and multipoint contacts. The International Journal of Robotics Research 2005; 24(9): 703-715.
12. Balaniuk R. A differential method for the haptic rendering of deformable objects. Proceedings of the ACM Symposium on Virtual Reality Software and Technology 2006, Limassol, Cyprus, 297-304.
13. Duriez C, Andriot C, Kheddar A. Signorini's contact model for deformable objects in haptic simulations. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), CEA, France, 2004; 4, 3232-3237.
14. Duriez C, Dubois F, Kheddar A, et al. Realistic haptic rendering of interacting deformable objects in virtual environments. IEEE Trans Visualiz Comput Graphics 2006; 12: 364-367.
15. Pauly M, Pai DK, Guibas LJ. Quasi-rigid objects in contact. Proceedings of Symposium on Computer Animation, Grenoble, France, 2004; 1019-1091.
16. Baraff D. Analytical methods for dynamic simulation of non-penetrating rigid bodies. ACM SIGGRAPH Comput Graphics 1989; 23(3): 223-232.
17. Johnson KL. Contact Mechanics. The Press Syndicate of the University of Cambridge, UK, 1985.
18. Oden JT, Kikuchi N. Contact Problems in Elasticity: A Study of Variational Inequalities and Finite Element Methods. Society for Industrial Mathematics, SIAM, Philadelphia, 1988.
19. http://www.sensable.com. 2005.
20. Mahvash M, Hayward V. High-fidelity haptic synthesis of contact with deformable bodies. IEEE Comput Graphics Appl 2004; 24: 48-55.
21. Li X, Gu L, Zhang S, et al. A hybrid collision response in a haptic virtual surgery system. Proceedings of the 6th International Special Topic Conference on Information Technology Applications in Biomedicine, Tokyo, Japan, 2007; 1311-1334.
22. Teschner M, Heidelberger B, Muller M, et al. A versatile and robust model for geometrically complex deformable solids. Proc Computer Graphics International, 2004. Crete, Greece, 312-319.
23. Baraff D. Fast contact force computation for non-penetrating rigid bodies. Proceedings of the 21st Annual Conference on Computer Graphics and Interactive Techniques, Orlando, Florida, USA, 1994; 23-34.