Joshi B, Lee B, Popescu DC, Ourselin S. Multiple contact approach to collision modelling in surgical simulation. Stud Health Technol Inform. 2005; 111:237-42

PMID: 15718735


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.