中文摘要：

虚拟手术系统是虚拟现实技术在现代医学的重要应用。碰撞检测是虚拟手术系统的基础问题。基于心脏介入手术中碰撞的特点，提出了结合空间分解和包围盒层次的混合碰撞检测算法。它能够满足虚拟心脏介入手术系统中对碰撞检测的实时性要求。该算法对被检测对象形变引起的更新不敏感，具有天然的解决可变形对象间碰撞检测的能力。

英文摘要：

Virtual surgery system is an important application of virtual reality in the field of modem medical. Collision detection is a fundamental problem in the system. A hybrid collision detection method, combined with bounding volume hierarchy and spatial subdivision, based on the character of the collision in the system, is proposed. It can address the collision detection problem in virtual Interventional Cardiology system in real time. The algorithm is not sensitive to the update caused by the deformation of the objects＇ model, and has the inherent ability to handle the deformable collision detection.