A method and system for collision detection between soft tissue and instruments in virtual surgery

By constructing a dual-level bounding box structure and ray tracing algorithm, combined with Sphere, OBB bounding box and triangular patch detection, the real-time and accuracy problems of soft tissue and instrument collision detection in virtual surgery are solved, achieving efficient collision detection results.

CN120411359BActive Publication Date: 2026-04-14NANJING TECH UNIV
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Patent Information

Application Number
CN202510478325.9
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-04-16
Publication Date
2026-04-14
Estimated Expiration
2045-04-16

AI Technical Summary

Technical Problem

Existing collision detection algorithms for soft tissues and instruments in virtual surgery struggle to meet the requirements of real-time performance and accuracy for complex models, especially in collision detection of deformable bodies, where there are issues with insufficient detection efficiency and accuracy.

Method used

A soft tissue mesh model and a proxy model for instruments are constructed. A dual-level bounding box structure and ray tracing algorithm are adopted. By dividing the dead zone with the shortest distance, the intersection detection of Sphere, OBB bounding boxes and triangular patches is used to perform coarse inspection, fine inspection and force feedback detection, thereby improving the detection efficiency and accuracy.

Benefits of technology

It improves the real-time performance and accuracy of collision detection between soft tissues and instruments in virtual surgery, meeting the practical needs of virtual surgery.

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Abstract

The application discloses a kind of collision detection method and system between soft tissue and instrument in virtual surgery, including constructing soft tissue grid model with triangular facet and tetrahedral particle and constructing the proxy model of instrument;Respectively construct the double level bounding box structure of soft tissue grid model and proxy model, and using ray tracing algorithm, obtain the binary hierarchical tree of soft tissue grid model;The shortest distance between the soft tissue grid model and the proxy model is obtained, and the collision detection of the soft tissue grid model and the proxy model is carried out based on the shortest distance and the set dead zone relationship.In the collision detection between soft tissue grid model and proxy model, the binary hierarchical tree of soft tissue grid model is obtained based on ray tracing algorithm, so the time for constructing the binary hierarchical tree of soft tissue grid model can be reduced, the system construction efficiency is improved, and different collision detection methods are used according to specific situation, the detection efficiency and accuracy are improved.
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