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In our case, we are interested in detecting collision between an organ and several tools.
The organ has a complex geometry, it is not convex. It is modelled as a triangular mesh.
It is deformable. And these deformations can be large. In fact, for surgery simulation we must use models which can handle topological changes because surgeons like to cut organs. In fact we are simulating the removal one part of the liver.
The scene also contains one or more tools. A minimal invasive surgery tool has some features which can be useful for the collision detection algorithm.
First, the tool has a very simple geometry. It looks like a long thin rigid cylinder. Moreover, the tool always pass through a fixed point. The point where the tool passes through the patient’s skin,