A Hybrid Collision Response in a Haptic Virtual Surgery System

Collision response is an important component in a virtual surgery system, due to the requirements of realtime response and simulation realism. In this paper, we propose a novel hybrid collision response algorithm for generating a smooth feedback force. This algorithm takes the advantages of three traditional methods as well as gets rids of drawbacks of them. It also provides an approach to generate a reasonable feedback force. After collision response processing the variance of feedback force has been reduced from 30026 to 0.0003, form 39095 to 0.06 and from 5455 to 0.008 in x, y and z dimension respectively. The result shows that our methods can be used in a real-time response and simulation realism required haptic surgery simulator.