Multiple contact approach to collision modelling in surgical simulation.
Bhautik Joshi, Bryan E. J. Lee, Dan Corneliu Popescu, Sébastien Ourselin · PubMed · 2005
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.