Abstract:

We propose an improved collision detection algorithm for ligaturing simulation of liver blood vessels in virtual liver surgery. The improved algorithm mainly includes three aspects: selfcollision detection of suture, motion decomposition of suture, and collision detection of suture and blood vessels. We employ the follow the leader (FTL) algorithm to configure the motion of suture, and temporary restrictions are set to achieve the suture’s “equivalent friction”. The bounding volume hierarchies (BVH) method increases the efficiency of suture’s selfcollision detection, and the motion decomposition method manages to prevent penetrations. The integration of the BVH method and the grid method can handle the collision detection of suture and liver blood vessels. Moreover, a rigid core is used to limit the deformation of liver blood vessels mesh, and a virtual mass spring is used to implement the haptic feedback of ligaturing simulation. The improved algorithm works well for the ligaturing simulation of liver blood vessels in virtual liver surgery.

Key words: ligaturing simulation, collision detection, motion decomposition, haptic feedback