Research of collision detection of soft body in virtual environment

Collision detection in virtual surgery is mainly studied in this paper. First, surface and internal data of soft tissue is represented with points and stored with spheres. By space division octree method, hierarchical bounding sphere tree is established and used for collision detection. Then, a new collision detection algorithm is presented which can effectively avoid puncturing phenomena and omit real-time updating of collision detection tree and improve the system efficiency. The experiment shows that the algorithm is correct and efficient to the collision detection and can meet user visual and haptic needs.