1. Exploiting Graphics Hardware for Haptic Authoring Minho Kim mhkim@cise.ufl.edu mhkim@cise.ufl.edu Sukitti Punak, Juan Cendan, Sergei Kurenov, Jörg Peters SurfLab University of Florida http://www.cise.ufl.edu/research/SurfLab

2. Surgical Haptic Authoring Kit  surgeon = author  haptic artifacts from coarse models distract! ●○○○○○○○○

3. subdivision surfaces  Catmull-Clark subdivision scheme ●●○○○○○○○

4. subdivision surfaces (cont’d)  Loop subdivision scheme ●●●○○○○○○

5. GPU shaders  programming on graphics hardware  primitive parallel processing (SIMD)  requires regular data structure ●●●●○○○○○

6. “A real-time GPU subdivision kernel”   20 speedup! ●●●●●○○○○

7. main contributions  reuses subdivision surface already calculated  localized rendering ●●●●●●○○○

8. technical details ●●●●●●●○○  configuration for test (this laptop) CPU: Pentium M (1.60GHz) GPU: GeForce Go 6200 system memory: 512MB video memory: 128MB (PCI Express 16x)  input models liver 274 triangles 139 vertices stomach 534 triangles 269 vertices

9. technical details (cont’d)  performance 3d modeldepthFPS (visual)FPS (visual+haptic)performance ratio liver 329.36 100% 419.4617.4489.6% stomach 323.2719.7584.9% 414.5112.7287.7% ●●●●●●●●○

10. summary  practical performance on modern GPUs  applicable to dynamic objects ●●●●●●●●●