[Retracted] Study on Collision Detection and Force Feedback Algorithm in Virtual Surgery

Table 3

Collision detection data.

Frequency	Robot end position				Node location				Collision sign
	x (mm)	y (mm)	z (mm)	r (mm)	x (mm)	y (mm)	z (mm)	r (mm)
1	16.17	21.07	22.71	0.05	24.17	23.07	24.37	1.03	No
2	13.41	22.61	23.06	0.05	23.69	22.91	25.11	1.03	Yes
3	15.22	19.87	21.45	0.05	23.14	23.16	25.91	1.03	Yes
4	17.31	21.42	24.81	0.05	24.81	24.81	23.42	1.03	Yes
5	18.97	19.66	25.79	0.05	25.46	26.92	26.71	1.03	No
6	19.08	21.09	24.77	0.05	26.82	25.74	27.08	1.03	Yes