Improved collision detection algorithm for soft tissue deformable models

The virtual 3D models of human organs in surgery simulation must reproduce the complex viscoelastic deformable behavior of living soft tissue during interaction with virtual surgical tools. Collision detection is a crucial task for modelling and real-time simulation of surgical interactions. Few techniques for collision detection between moving bodies that involve tissue cutting and deformations have been reported. In this paper, we present an improved Quinlan algorithm for collision detection suitable for real-time tissue cutting and deformation simulation. We also present an example of the use of the algorithm in a prostate surgery simulation system.