Table 1.

Computational load analysis of the collision detection algorithm.

Voxel Size (mm)	Manip. Voxels	Obstacle Voxels	Intersection Operations	Manip. Voxeling (ms)	Intersecion (ms)	Total Loop (ms)
100	1120	710	795,200	3.4	0.6	8
66	2500	1688	4,220,000	3.6	1.5	10.2
33	9850	5016	49,407,600	3.8	5.6	18.8
22	18,530	7399	137,103,470	4.5	10.7	30.4
15	47,610	9964	474,386,040	5.8	26.9	65.4
10	102,030	13,530	1,380,465,900	8	58.8	133.6