[algorithm] Coupling point removal does not work well in some edge cases

[th-skam]

Description

The coupling point removal algorithm relies on the idea that if a point is found in front of the tip, this indicates that the needle is retreating and the point should be removed from m_couplingPts. This video shows a more extreme case where the needle did not exit properly:

25-08-13-InsertionExitBug.mp4

In such a case, m_couplingPts will not be empty while the needle is outside the volume. Because of this, collision detection is disabled and the needle gets instantly attached to the coupling points.

A more global approach should be followed to completely restart the algorithm if the needle is outside the body.

[th-skam]

This issue has been resolved through the modifications made in PR #65
The algorithm is protected from adding spurious proximities and the last check in the doDetection function clears m_couplingPts to restart collision detection when the needle exits.