虚拟手术中刚体和软体碰撞检测算法研究

在虚拟手术中，组织器官的碰撞检测一直是影响手术模拟效率的瓶颈。文中基于手术器械一般远小于组织器官、并且手术过程中器械仅有极小尖端部分与器官接触这一事实，提出了一种新的算法。传统的碰撞检测算法中，一般用层次包围盒树对物体进行建模。文中对虚拟手术器械的建模使用线性表来代替层次包围盒树，与标准库RAPID的对比实验表明，该方法提高了检测的效率，能较好地解决类似虚拟手术中小型刚体和大型软体之间的碰撞检测。

Research on Collision Detection between Rigid and Soft Body in Surgery Simulation

In virtual operation,the surgery tools always are very small compared to the organ and they have very little spin segment that contacting with soft tissue.Based on this fact,presents a method for collision detection that is well suited to the collision between small rigid body and big deformable body.The method uses linear list instead of traditional BVH in the model of surgical tools.A new corresponding collision detection algorithm is presented.Experimental results show that it performs well compared to the RAPID collision detection library,a standard in the field.