TY - GEN
T1 - Using an approximation to the Euclidean skeleton for efficient collision detection and tissue deformations in surgical simulators
AU - Webster, Roger
AU - Harris, Matt
AU - Shenk, Rod
AU - Blumenstock, John
AU - Gerber, Jesse
AU - Billman, Chad
AU - Benson, Aaron
AU - Haluck, Randy
PY - 2005/1/1
Y1 - 2005/1/1
N2 - This paper describes a technique for efficient collision detection and deformation of abdominal organs in surgical simulation using an approximation of the Euclidean skeleton. Many researchers have developed surgical simulators, but one of the most difficult underlying problems is that of organ-instrument collision detection followed by the deformation of the tissue caused by the instrument. Much of the difficulty is due to the vast number of polygons in high resolution complex organ models. A high resolution gall bladder model for instance can number in the tens of thousands of polygons. Our methodology utilizes the reduction power of the skeleton to reduce computations. First, we recursively compute approximations to the Euclidean skeleton to generate a set of skeletal points for the organ. Then we pre-compute for each vertex in each polygon the associated skeleton point (minimal distance discs). A spring is then connected from each vertex to its associated skeleton point to be used in the deformation algorithm. The data structure for the organ thus stores for each skeletal point its maximum and minimum distances and the list of associated vertices. A heuristic algorithm using the skeleton structure of the instrument and the skeleton of the organ is used to determine instrument collisions with the organ.
AB - This paper describes a technique for efficient collision detection and deformation of abdominal organs in surgical simulation using an approximation of the Euclidean skeleton. Many researchers have developed surgical simulators, but one of the most difficult underlying problems is that of organ-instrument collision detection followed by the deformation of the tissue caused by the instrument. Much of the difficulty is due to the vast number of polygons in high resolution complex organ models. A high resolution gall bladder model for instance can number in the tens of thousands of polygons. Our methodology utilizes the reduction power of the skeleton to reduce computations. First, we recursively compute approximations to the Euclidean skeleton to generate a set of skeletal points for the organ. Then we pre-compute for each vertex in each polygon the associated skeleton point (minimal distance discs). A spring is then connected from each vertex to its associated skeleton point to be used in the deformation algorithm. The data structure for the organ thus stores for each skeletal point its maximum and minimum distances and the list of associated vertices. A heuristic algorithm using the skeleton structure of the instrument and the skeleton of the organ is used to determine instrument collisions with the organ.
UR - http://www.scopus.com/inward/record.url?scp=23844451821&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=23844451821&partnerID=8YFLogxK
M3 - Conference contribution
C2 - 2005138315
AN - SCOPUS:23844451821
SN - 1586034987
SN - 9781586034986
T3 - Studies in Health Technology and Informatics
SP - 596
EP - 598
BT - Medicine Meets Virtual Reality 13
PB - IOS Press
T2 - 13th Annual Conference on Medicine Meets Virtual Reality: The Magical Next Becomes the Medical Now, MMVR 2005
Y2 - 26 January 2005 through 29 January 2005
ER -