Collision handling of deformable anatomical models for real-time surgery simulation

Article type: Research Article

Authors: Heidelberger, Bruno^{a; *} | Teschner, Matthias^a | Frauenfelder, Thomas^b | Gross, Markus^a

Affiliations: [a] Computer Graphics Laboratory, ETH Zurich, Switzerland | [b] Institute of Diagnostic Radiology, University Hospital Zurich, Switzerland

Correspondence: [*] Address for correspondence: Bruno Heidelberger, Computer Graphics Laboratory, ETH Zentrum, IFW D29.2, Haldeneggsteig 4, CH-8092 Zurich, Switzerland. Tel.: +41 1 632 74 65; Fax: +41 1 632 15 96; E-mail: [email protected].

Abstract: Efficient collision handling of dynamically deforming anatomical models is a very challenging problem in real-time surgery simulation. In this paper, we present a new, efficient approach that detects collisions and self-collisions of deformable models. Our algorithm is integrated in a simulation framework for multiple interacting objects. This framework consists of three components. The first one computes the dynamic behavior of deformable structures using an efficient and robust approach with distance- and volume-preserving constraints. The second component detects collisions and self-collisions of deformable models. A novel image-space technique is employed that detects volumetric intersections. This allows to compute the penetration depth which is used to resolve collisions in the third component of our framework. Our system handles volumetric deformable models of up to several thousand surface triangles and tetrahedra in real-time and can be used in surgical training systems.

DOI: 10.3233/THC-2004-12303

Journal: Technology and Health Care, vol. 12, no. 3, pp. 235-243, 2004