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Hierarchical spatial hashing‐based collision detection and hybrid collision response in a haptic surgery simulator
Author(s) -
Li X.,
Gu L.,
Zhang S.,
Zhang J.,
Zheng G.,
Huang P.,
Xu J.
Publication year - 2008
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.177
Subject(s) - haptic technology , collision detection , computer science , collision , collision response , virtual reality , simulation , hash function , artificial intelligence , computer security
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. Copyright © 2008 John Wiley & Sons, Ltd.