Virtual Surgery Simulator
At each time step:
- get tools’ positions
- detect collision between tools and organ
- simulate deformable model
- compute forces exerted on each tool
- redraw (Haptic + Visual)
http://www-sop.inria.fr/epidaure/AISIM
Notes:
Everything means each step of the simulation loop which are :
1st, get the tools’ positions, then detect collisions between the tools and the organ. Take these collisions into account and simulate the deformable model. From the deformation of the organ, we must compute the forces applied on the tools. Then, we need to refresh the display and to send forces back to the force feedback devices.
Most of these points are studied by our research group. This talk focuses on the collision detection algorithm.