Hierarchical spatial hashing‐based collision detection and hybrid collision response in a haptic surgery simulator
Identifieur interne : 004F48 ( Main/Exploration ); précédent : 004F47; suivant : 004F49Hierarchical spatial hashing‐based collision detection and hybrid collision response in a haptic surgery simulator
Auteurs : X. Li [République populaire de Chine] ; L. Gu [République populaire de Chine] ; S. Zhang [République populaire de Chine] ; J. Zhang [République populaire de Chine] ; G. Zheng [République populaire de Chine] ; P. Huang [République populaire de Chine] ; J. Xu [République populaire de Chine]Source :
- The International Journal of Medical Robotics and Computer Assisted Surgery [ 1478-5951 ] ; 2008-03.
English descriptors
- KwdEn :
- MESH :
- methods : Imaging, Three-Dimensional, Physical Stimulation, Surgery, Computer-Assisted.
- physiology : Touch.
- Algorithms, Computer Simulation, Humans, Models, Biological, User-Computer Interface.
Abstract
Background: Collision detection and response are two crucial aspects in a virtual surgery simulator, which significantly affect the output in real‐time response and simulation realism. Methods: We propose a collision detection algorithm which employs a novel hierarchical spatial hashing to effectively achieve appropriate parameters. Thereafter we present a hybrid collision response scheme which takes the advantages of three traditional methods and introduces a ‘force filter’ to obtain more realistic feedback force. Results: The average performance of our proposed collision detection has been improved by 15.65% against the traditional method. After collision response processing the smoothness of feedback force has been greatly enhanced, and this indicates a more realistic feedback force without restricting the range of force inputs. Conclusions: The experimental results reveal that the proposed approaches can achieve the real‐time response and simulation realism required by a haptic surgery simulator. Copyright © 2008 John Wiley & Sons, Ltd.
Url:
DOI: 10.1002/rcs.177
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Istex, to step Corpus: 003F25
- to stream Istex, to step Curation: 003F25
- to stream Istex, to step Checkpoint: 001450
- to stream PubMed, to step Corpus: 001510
- to stream PubMed, to step Curation: 001510
- to stream PubMed, to step Checkpoint: 001269
- to stream Ncbi, to step Merge: 000D49
- to stream Ncbi, to step Curation: 000D49
- to stream Ncbi, to step Checkpoint: 000D49
- to stream Main, to step Merge: 005069
- to stream Main, to step Curation: 004F48
Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Hierarchical spatial hashing‐based collision detection and hybrid collision response in a haptic surgery simulator</title><author><name sortKey="Li, X" sort="Li, X" uniqKey="Li X" first="X." last="Li">X. Li</name></author><author><name sortKey="Gu, L" sort="Gu, L" uniqKey="Gu L" first="L." last="Gu">L. Gu</name></author><author><name sortKey="Zhang, S" sort="Zhang, S" uniqKey="Zhang S" first="S." last="Zhang">S. Zhang</name></author><author><name sortKey="Zhang, J" sort="Zhang, J" uniqKey="Zhang J" first="J." last="Zhang">J. Zhang</name></author><author><name sortKey="Zheng, G" sort="Zheng, G" uniqKey="Zheng G" first="G." last="Zheng">G. Zheng</name></author><author><name sortKey="Huang, P" sort="Huang, P" uniqKey="Huang P" first="P." last="Huang">P. Huang</name></author><author><name sortKey="Xu, J" sort="Xu, J" uniqKey="Xu J" first="J." last="Xu">J. Xu</name></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:7412ABD5F79ECE94E6BA852368EEAC8EC6CB4F22</idno><date when="2008" year="2008">2008</date><idno type="doi">10.1002/rcs.177</idno><idno type="url">https://api.istex.fr/document/7412ABD5F79ECE94E6BA852368EEAC8EC6CB4F22/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">003F25</idno><idno type="wicri:Area/Istex/Curation">003F25</idno><idno type="wicri:Area/Istex/Checkpoint">001450</idno><idno type="wicri:doubleKey">1478-5951:2008:Li X:hierarchical:spatial:hashing</idno><idno type="wicri:source">PubMed</idno><idno type="RBID">pubmed:18273917</idno><idno type="wicri:Area/PubMed/Corpus">001510</idno><idno type="wicri:Area/PubMed/Curation">001510</idno><idno type="wicri:Area/PubMed/Checkpoint">001269</idno><idno type="wicri:Area/Ncbi/Merge">000D49</idno><idno type="wicri:Area/Ncbi/Curation">000D49</idno><idno type="wicri:Area/Ncbi/Checkpoint">000D49</idno><idno type="wicri:Area/Main/Merge">005069</idno><idno type="wicri:Area/Main/Curation">004F48</idno><idno type="wicri:Area/Main/Exploration">004F48</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Hierarchical spatial hashing‐based collision detection and hybrid collision response in a haptic surgery simulator</title><author><name sortKey="Li, X" sort="Li, X" uniqKey="Li X" first="X." last="Li">X. Li</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Computer Science and Engineering Department, Shanghai Jiao Tong University, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation></author><author><name sortKey="Gu, L" sort="Gu, L" uniqKey="Gu L" first="L." last="Gu">L. Gu</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Computer Science and Engineering Department, Shanghai Jiao Tong University, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>School of Software, Shanghai Jiao Tong University, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation><affiliation wicri:level="1"><country xml:lang="fr" wicri:curation="lc">République populaire de Chine</country><wicri:regionArea>L. Gu, Computer Science and Engineering Department, Shanghai Jiao Tong University, Shanghai, People's Republic of China.===J. Xu, Shanghai Renji Hospital, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation></author><author><name sortKey="Zhang, S" sort="Zhang, S" uniqKey="Zhang S" first="S." last="Zhang">S. Zhang</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>School of Software, Shanghai Jiao Tong University, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation></author><author><name sortKey="Zhang, J" sort="Zhang, J" uniqKey="Zhang J" first="J." last="Zhang">J. Zhang</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>School of Software, Shanghai Jiao Tong University, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation></author><author><name sortKey="Zheng, G" sort="Zheng, G" uniqKey="Zheng G" first="G." last="Zheng">G. Zheng</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>School of Software, Shanghai Jiao Tong University, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation></author><author><name sortKey="Huang, P" sort="Huang, P" uniqKey="Huang P" first="P." last="Huang">P. Huang</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>School of Software, Shanghai Jiao Tong University, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation></author><author><name sortKey="Xu, J" sort="Xu, J" uniqKey="Xu J" first="J." last="Xu">J. Xu</name><affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>Shanghai Renji Hospital, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation><affiliation wicri:level="1"><country xml:lang="fr" wicri:curation="lc">République populaire de Chine</country><wicri:regionArea>L. Gu, Computer Science and Engineering Department, Shanghai Jiao Tong University, Shanghai, People's Republic of China.===J. Xu, Shanghai Renji Hospital, Shanghai</wicri:regionArea><wicri:noRegion>Shanghai</wicri:noRegion></affiliation></author></analytic><monogr></monogr><series><title level="j">The International Journal of Medical Robotics and Computer Assisted Surgery</title><title level="j" type="abbrev">Int. J. Med. Robotics Comput. Assist. Surg.</title><idno type="ISSN">1478-5951</idno><idno type="eISSN">1478-596X</idno><imprint><publisher>John Wiley & Sons, Ltd.</publisher><pubPlace>Chichester, UK</pubPlace><date type="published" when="2008-03">2008-03</date><biblScope unit="volume">4</biblScope><biblScope unit="issue">1</biblScope><biblScope unit="page" from="77">77</biblScope><biblScope unit="page" to="86">86</biblScope></imprint><idno type="ISSN">1478-5951</idno></series><idno type="istex">7412ABD5F79ECE94E6BA852368EEAC8EC6CB4F22</idno><idno type="DOI">10.1002/rcs.177</idno><idno type="ArticleID">RCS177</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">1478-5951</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Computer Simulation</term><term>Humans</term><term>Imaging, Three-Dimensional (methods)</term><term>Models, Biological</term><term>Physical Stimulation (methods)</term><term>Surgery, Computer-Assisted (methods)</term><term>Touch (physiology)</term><term>User-Computer Interface</term><term>collision detection</term><term>collision response</term><term>feedback force</term><term>virtual surgery</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Imaging, Three-Dimensional</term><term>Physical Stimulation</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Touch</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Computer Simulation</term><term>Humans</term><term>Models, Biological</term><term>User-Computer Interface</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Background: Collision detection and response are two crucial aspects in a virtual surgery simulator, which significantly affect the output in real‐time response and simulation realism. Methods: We propose a collision detection algorithm which employs a novel hierarchical spatial hashing to effectively achieve appropriate parameters. Thereafter we present a hybrid collision response scheme which takes the advantages of three traditional methods and introduces a ‘force filter’ to obtain more realistic feedback force. Results: The average performance of our proposed collision detection has been improved by 15.65% against the traditional method. After collision response processing the smoothness of feedback force has been greatly enhanced, and this indicates a more realistic feedback force without restricting the range of force inputs. Conclusions: The experimental results reveal that the proposed approaches can achieve the real‐time response and simulation realism required by a haptic surgery simulator. Copyright © 2008 John Wiley & Sons, Ltd.</div></front></TEI><affiliations><list><country><li>République populaire de Chine</li></country></list><tree><country name="République populaire de Chine"><noRegion><name sortKey="Li, X" sort="Li, X" uniqKey="Li X" first="X." last="Li">X. Li</name></noRegion><name sortKey="Gu, L" sort="Gu, L" uniqKey="Gu L" first="L." last="Gu">L. Gu</name><name sortKey="Gu, L" sort="Gu, L" uniqKey="Gu L" first="L." last="Gu">L. Gu</name><name sortKey="Gu, L" sort="Gu, L" uniqKey="Gu L" first="L." last="Gu">L. Gu</name><name sortKey="Huang, P" sort="Huang, P" uniqKey="Huang P" first="P." last="Huang">P. Huang</name><name sortKey="Xu, J" sort="Xu, J" uniqKey="Xu J" first="J." last="Xu">J. Xu</name><name sortKey="Xu, J" sort="Xu, J" uniqKey="Xu J" first="J." last="Xu">J. Xu</name><name sortKey="Zhang, J" sort="Zhang, J" uniqKey="Zhang J" first="J." last="Zhang">J. Zhang</name><name sortKey="Zhang, S" sort="Zhang, S" uniqKey="Zhang S" first="S." last="Zhang">S. Zhang</name><name sortKey="Zheng, G" sort="Zheng, G" uniqKey="Zheng G" first="G." last="Zheng">G. Zheng</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004F48 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 004F48 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= ISTEX:7412ABD5F79ECE94E6BA852368EEAC8EC6CB4F22
|texte= Hierarchical spatial hashing‐based collision detection and hybrid collision response in a haptic surgery simulator
}}
| This area was generated with Dilib version V0.6.23. |  |