Collision detection, which refers to the computational problem of finding the relative placement or configuration of two or more objects, is an essential component of many applications in computer graphics and robotics. In image-guided robotic surgery, real-time collision detection is critical for preserving healthy anatomical structures during the surgical procedure. However, the computational complexity of the problem usually results in algorithms that operate at low speed. In this paper, we present a fast and accurate algorithm for collision detection between Oriented-Bounding-Boxes (OBBs) that is suitable for real-time implementation. Our proposed Sweep and Prune algorithm can perform a preliminary filtering to reduce the number of objects that need to be tested by the classical Separating Axis Test algorithm, while the OBB pairs of interest are preserved. These OBB pairs are re-checked by the Separating Axis Test algorithm to obtain accurate overlapping status between them. To accelerate the execution, our Sweep and Prune algorithm is tailor-made for the proposed method. Meanwhile, a high-performance scalable hardware architecture is proposed by analyzing the intrinsic parallelism of our algorithm and is implemented on FPGA platform. Results show that our hardware design on the FPGA platform can achieve around 8× higher running speed than the software design on a CPU platform. As a result, the proposed algorithm can achieve a collision frame rate of 1 kHz and fulfill the requirement for the medical surgery scenario of Robot-Assisted Laparoscopy.


    Access

    Download


    Export, share and cite



    Title :

    FPGA-based high-performance collision detection: An enabling technique for image-guided robotic surgery


    Contributors:
    Zhang, Z (author) / Xin, Y (author) / Liu, B (author) / Li, WXY (author) / Lee, KH (author) / Ng, CF (author) / Stoyanov, D (author) / Cheung, RCC (author) / Kwok, KW (author)

    Publication date :

    2016-08-31


    Remarks:

    Frontiers Robotics AI , 3 (51) (2016)


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





    Collision detection for a robotic work tool

    JÄGENSTEDT PATRIK / KALLSTRÖM FREDRIK / STÅHL JOHAN | European Patent Office | 2021

    Free access

    COLLISION DETECTION FOR A ROBOTIC WORK TOOL

    JÄGENSTEDT PATRIK / KALLSTRÖM FREDRIK / STÅHL JOHAN | European Patent Office | 2019

    Free access

    Improved collision detection for a robotic work tool

    JÄGENSTEDT PATRIK / KALLSTRÖM FREDRIK / STÅHL JOHAN | European Patent Office | 2022

    Free access