Haptic feedback for the GPU-based surgical simulator

Thomas S. Sørensen, Jesper Mosegaard
Centre for Advanced Visualisation and Interaction, University of Aarhus, Denmark
Studies in health technology and informatics In Medicine Meets Virtual Reality 14, Vol. 119 (2006), pp. 523-528


   title={Haptic feedback for the GPU-based surgical simulator.},

   author={S{o}rensen, T.S. and Mosegaard, J.},

   journal={Studies in health technology and informatics},






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The GPU has proven to be a powerful processor to compute spring-mass based surgical simulations. It has not previously been shown however, how to effectively implement haptic interaction with a simulation running entirely on the GPU. This paper describes a method to calculate haptic feedback with limited performance cost. It allows easy balancing of the GPU workload between calculations of simulation, visualisation, and the haptic feedback.
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