Abstract: In order to solve collision detection problem in virtual surgery，a rapid collision detection method based on bounding volume hierarchy is presented.Focusing on the features of the large-scale soft tissue model and the simple geometric instrument model，the algorithm is improved from three aspects：the construction of the bounding volume hierarchy，the traversal of bounding volume hierarchy and the precise intersection test.Compared to the RAPID library，the experiments show that the algorithm is more available and efficient to the collision detection with increasing the size of soft model in virtual surgery.

摘要： 为了解决虚拟手术的快速碰撞检测问题，提出了一种新的基于层次包围盒的快速碰撞检测方法。文中基于虚拟手术中器官组织是软体模型且规模巨大，而手术器械是刚体模型且结构简单这一特点，从层次包围盒构造、包围盒树遍历和精确相交测试三个方面改进算法。仿真实验表明该算法能正确有效地处理虚拟手术中的碰撞检测，与标准库RAPID对比，随着软体模型规模的增大，该方法能显著提高碰撞检测的效率。