The collision detection apparatus and method is disclosed. The apparatus, for each of the models included in the given image the image segmentation, a plurality of the model primitives and the primitive generating unit for generating the model primitives surrounding the model, generating a plurality of voxel by dividing the image exists search unit and, for each of the searched voxel comprising part collision detection that the collision state checking unit, and in response to the check result to check whether there is a conflict between the model primitives sensing a collision between the model to the voxels that searching in the generated voxels it is desirable.