Hierarchical spatial hashing-based collision detection and hybrid collision response in a haptic surgery simulator
✍ Scribed by X. Li; L. Gu; S. Zhang; J. Zhang; G. Zheng; P. Huang; J. Xu
- Book ID
- 104583193
- Publisher
- Wiley (Robotic Publications)
- Year
- 2008
- Tongue
- English
- Weight
- 710 KB
- Volume
- 4
- Category
- Article
- ISSN
- 1478-5951
- DOI
- 10.1002/rcs.177
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✦ Synopsis
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.