Collision Detection and Penetration Depth Calculation in Virtual Surgical Simulation

This thesis presents a simple and efficient algorithm to detect collisions between two objects and to calculate the penetration depth from the overlapping region. In a surgical simulator, there are two types of object pair interactions: deformable to non-deformable and, deformable to deformable object interactions. This work examines tissue to rigid body and, tissue to tissue interactions and provides realistic deformation to the interacting tissues in both cases.