Skip to main content
. Author manuscript; available in PMC: 2010 Jan 12.
Published in final edited form as: Int J Med Robot. 2008 Jun;4(2):131–138. doi: 10.1002/rcs.185

FIGURE 11.

FIGURE 11

Collision detection in cutting. The instrument (scissors) is represented by 3 lines for collision detections and response. When the two lines representing the blades touch the closest point, a cutting point is established.