Fast contact localisation between deformable polyhedra in motion

Joukhadar, Ammar; Wabbi, A.; Laugier, C.

doi:10.1109/ca.1996.540495

Cited by 16 publications

(5 citation statements)

References 8 publications

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“…A force is being applied on the thigh using a probe which provokes a deformation which is in accordance with the measurements taken. For collision detection between the objects the algorithm outlined in [6] is used, while the response to a collision is determined by the approach described in [3].…”

Section: Resultsmentioning

confidence: 99%

Modeling the Dynamics of the Human Thigh for a Realistic Echographic Simulator with Force Feedback

d'Aulignac

Çavuşoğlu

Laugier

1999

Medical Image Computing and Computer-Assisted Intervention – MICCAI’99

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This paper proposes a mass-spring model of the dynamics of a human thigh based on real data acquired. Using a force sensor mounted on a robot arm the deformation of the thigh with respect to an external force is measured. The stress-strain curves we obtained exhibit a strong non-linearity due to the incompressibility of the human tissue. Hence, we propose a two-layer model of the thigh using both linear and non-linear visco-elastic springs to simulate the observed behaviour. The parameters of the springs are estimated using a least-squares minimisation method. Finally, we discuss the feasibility of our model as part of a fully functional simulator coupled with a haptic interface to train practitioners for echographic exams.

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Section: Resultsmentioning

confidence: 99%

Modeling the Dynamics of the Human Thigh for a Realistic Echographic Simulator with Force Feedback

d'Aulignac

Çavuşoğlu

Laugier

1999

Medical Image Computing and Computer-Assisted Intervention – MICCAI’99

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“…Then, their signed distance can be calculated and a negative value indicates a collision. Different techniques for distance calculation are proposed in [9], [5], [30], [20], [37]. In the case of intersection tests, an intersection between two primitives indicates the occurrence of a collision.…”

Section: Basic Methodsmentioning

confidence: 99%

Efficient collision detection within deforming spherical sliding contact

Maciel

Boulic

Thalmann

2007

IEEE Trans. Visual. Comput. Graphics

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Handling the evolving permanent contact of deformable objects leads to a collision detection problem of high computing cost. Situations in which this type of contact happens are becoming more and more present with the increasing complexity of virtual human models, especially for the emerging medical applications. In this context, we propose a novel collision detection approach to deal with situations in which soft structures are in constant but dynamic contact, which is typical of 3D biological elements. Our method proceeds in two stages: First, in a preprocessing stage, a mesh is chosen under certain conditions as a reference mesh and is spherically sampled. In the collision detection stage, the resulting table is exploited for each vertex of the other mesh to obtain, in constant time, its signed distance to the fixed mesh. The two working hypotheses for this approach to succeed are typical of the deforming anatomical systems we target: First, the two meshes retain a layered configuration with respect to a central point and, second, the fixed mesh tangential deformation is bounded by the spherical sampling resolution. Within this context, the proposed approach can handle large relative displacements, reorientations, and deformations of the mobile mesh. We illustrate our method in comparison with other techniques on a biomechanical model of the human hip joint.

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“…Collision detection involves checking the geometry of the target objects for interpenetration, which is usually made using static interference tests. These tests include distance calculation algorithms 3,4 and intersection checks. Bounding boxes intersection test is particularly useful in bounding volume methods.…”

Section: Related Workmentioning

confidence: 99%

An efficient dynamic point algorithm for line‐based collision detection in real time virtual environments involving haptics

Maciel

De²

2008

Computer Animation & Virtual

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In real time computer graphics, "interactivity" is limited to a display rate of 30 frames per second. However, in multimodal virtual environments involving haptic interactions, a much higher update rate of about 1 kHz is necessary to ensure continuous interactions and smooth transitions. The simplest and most efficient interaction paradigm in such environments is to represent the haptic cursor as a point. However, in many situations, such as those in the development of real time medical simulations involving the interactions of long slender surgical tools with soft deformable organs, such a paradigm is nonrealistic and at least a line-based interaction is desirable. While such paradigms exist, the main impediment to their widespread use is the associated computational complexity. In this paper, we introduce, for the first time, an efficient algorithm for computing the interaction of a line-shaped haptic cursor and polygonal surface models which has a near constant complexity. The algorithm relies on space-time coherence, topological information, and the properties of lines in 3D space to maintain proximity information between a line segment and triangle meshes. For interaction with convex objects, the line is represented by its end points and a dynamic point, which is the closest point on the line to any potentially colliding triangle. To deal with multiple contacts and non-convexities, the line is decomposed into segments and a dynamic point is used for each segment. The algorithm may be used to compute collision detection and response with rigid as well as deformable objects with no performance penalty. Realistic examples are presented to demonstrate the effectiveness of our approach.

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Fast contact localisation between deformable polyhedra in motion

Cited by 16 publications

References 8 publications

Modeling the Dynamics of the Human Thigh for a Realistic Echographic Simulator with Force Feedback

Modeling the Dynamics of the Human Thigh for a Realistic Echographic Simulator with Force Feedback

Efficient collision detection within deforming spherical sliding contact

An efficient dynamic point algorithm for line‐based collision detection in real time virtual environments involving haptics

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