Research on hybrid collision detection algorithm based on separation distance

Abstract In order to improve the safety of digital subtraction angiography (DSA) equipment in treatment cardiovascular diseases, a hybrid collision detection algorithm based on separation distance is proposed by combining oriented bounding box (OBB) with GJK algorithm. Firstly, according structure DSA equipment, real-time position simulated robot operating system (ROS); Then, OBB used envelope moving parts, and then generated model applied calculate between parts quickly eliminate pairs outside threshold; Finally, for within threshold, real models judge whether collide. The experimental results show that average time 15ms. application practical has achieved good anti-collision effect.