A method for collision detection between needle and tissues in the needle insertion simulation

Abstract

This paper presents a method to detect the collision between the needle model and voxel-based . hu � an tissue model for simulation of needle insertion. Four planes are used in front of the needle to protect penetratl . on mto bone in advance. Each plane is defined by using four points to consider thicknes � of �he nee�l � . Hounsfield umt . (HU) values which represent the type of human tissue are collected at each point to Identlfy c ? lhdmg vo � els. T�e . SIze of voxel and needle and the maximum velocity of the needle is identified and used to determme the relative positIOn, and number of plane� and points. The proposed method improves the performance of collision detection while maintaining the update rate at 1 kHz.