Heidelberger Bruno, Teschner Matthias, Frauenfelder Thomas, Gross Markus
Computer Graphics Laboratory, ETH Zurich, Switzerland.
Technol Health Care. 2004;12(3):235-43.
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.
在实时手术模拟中，动态变形解剖模型的高效碰撞处理是一个极具挑战性的问题。在本文中，我们提出了一种新的高效方法，用于检测可变形模型的碰撞和自碰撞。我们的算法集成在一个用于多个相互作用对象的模拟框架中。该框架由三个组件组成。第一个组件使用一种高效且稳健的方法，并结合距离和体积保持约束来计算可变形结构的动态行为。第二个组件检测可变形模型的碰撞和自碰撞。采用了一种新颖的图像空间技术来检测体积交集。这使得能够计算穿透深度，该穿透深度用于在我们框架的第三个组件中解决碰撞问题。我们的系统能够实时处理多达数千个表面三角形和四面体的体积可变形模型，可用于手术训练系统。
