Implementation of a soft-rigid collision detection algorithm in an open-source engine for surgical realistic simulation

The aim of this work is to integrate a soft-rigid collision detection algorithm in the open source physics engine Bullet Physics. In surgical applications these types of collisions occur, for example, when a clamp grabs deformable organic material or a spatula opens a brain fissure. The goal is to handle the collision between the soft body (deformable organ) and the rigid body (surgical tool), assuming that the position of the rigid body in the space is given by the Novint Falcon 3D. The visual rendering has been realized using OpenGL, a cross-language for rendering 2D and 3D vector graphics. Moreover, the simulator allows to provide force feedback to the surgeon through the haptic device.