Multiple contact approach to collision modelling in surgical simulation.
نویسندگان
چکیده
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.
منابع مشابه
Analytical Approach to Vibration Analysis Of the Wheel-rail contact
Wheel/rail contact simulation is one of the most complicated problems in the modeling of railway vehicles. The wheel/rail interaction plays a unique role in rail vehicle dynamics. In this paper, the dynamic response of the wheel on irregular rail track is analyzed with analytical approach using the method of Multiple Scales (MMS). The Hertzian contact theory is used to obtain the relationshi...
متن کاملLearning and Inference of Dexterous Grasps for Novel Objects with Underactuated Hands
Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a collision free reach-to-grasp trajectory is planned. This assumes a collision free trajectory to the final grasp. This is not possible with underactuated hands, wh...
متن کاملA Monte Carlo Simulation of Chain Reaction Rear End Potential Collisions on Freeways
In recent research on modelling road collisions very little attention has been paid to rear-end chain reaction collisions, which is characterized by more than two vehicles involved in a collision at the same time. The core aim of the present research is to develop a methodology to estimate such potential collision probabilities based on a proactive perspective, where deceleration rate to avoid...
متن کاملAn Optimization via Simulation approach for the preemptive and non-preemptive multi-mode resource-constrained project scheduling problems
In this paper a novel modelling and solving method has been developed to address the so-called resource constrained project scheduling problem (RCPSP) where project tasks have multiple modes and also the preemption of activities are allowed. To solve this NP-hard problem, a new general optimization via simulation (OvS) approach has been developed which is the main contribution of the current re...
متن کاملCost and Delay Time Analytics in OR: A Simulation-based Approach
Background: Operating room (OR) is one of the main hospital parts and management of time and cost are very important in this essential unit. Also, due to the close relationship with other departments, improving its service quality and performance, significantly increases the efficiency of hospital. OR is a complex system in which each lack of coordination effects on all hospita...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Studies in health technology and informatics
دوره 111 شماره
صفحات -
تاریخ انتشار 2005