8781

A master-slave robotic simulator based on GPUDirect

Jianying. Li, Yu. Guo, Heye. Zhang, Yongming. Xie
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences Shenzhen, PR China
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

@inproceedings{li2012master,

   title={A master-slave robotic simulator based on GPUDirect},

   author={Li, J. and Guo, Y. and Zhang, H. and Xie, Y.},

   booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},

   pages={5203–5207},

   year={2012},

   organization={IEEE}

}

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The same as in traditional surgery, surgeons in telerobotic surgery need extensive training to achieve experience and highly accurate instrument manipulation. Traditional training methods like practice in operating room have major drawbacks such as high risk and limited opportunity for which virtual reality (VR) and computer technologies can offer solutions. To accelerate the data transmission speed in our master-slave robotic simulator, GPUDirect was applied to ensure the synchronization and display rate of three computers. By using GPUDirect with InfiniBand card we realized up to 247% performance improvement in data transmission speed on NVIDIA Tesla products on different computers compared to that without GPUDirect, which shows that GPUDirect enables better communication between remote GPUs over InfiniBand.
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