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Vectorised High-Fidelity Haptic Rendering with Dynamic Pointshell
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. (Bildanalys och människa-datorinteraktion, Computerized Image Analysis and Human-Computer Interaction)
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
(English)Manuscript (preprint) (Other academic)
Abstract [en]

Exploiting parallelism in haptic rendering algorithms for rigid body collision simulation can be difficult due to the haptic feedback loop imposing strict real-time constraints on the computations. In this paper, we show that the classical Voxmap PointShell algorithm can be efficiently vectorised via the single-program multiple-data (SPMD) programming model of the Intel SPMD Program Compiler (ISPC) compiler and programming language. Our vectorised version provides an average 3.0x speedup compared to a corresponding scalar implementation, for a static hierarchical pointshell on a single CPU core. In addition, we propose a dynamic pointshell that does not require any pre-processing and allows a fixed point budget to be set per frame. The speedup obtained by the vectorisation means that a larger number of contact queries can be processed per haptic frame, while maintaining a desired haptic framerate. In an empirical study, we demonstrate that this increased fidelity in collision simulation translates directly to a higher user accuracy in assembly of fractured virtual objects.

Keywords [en]
haptic rendering, isosurfaces, parallelisation
National Category
Computer Sciences
Research subject
Computerized Image Processing
Identifiers
URN: urn:nbn:se:uu:diva-403102OAI: oai:DiVA.org:uu-403102DiVA, id: diva2:1388164
Note

Submitted to peer-reviewed conference for publication

Available from: 2020-01-23 Created: 2020-01-23 Last updated: 2020-01-23
In thesis
1. Modeling and Visualization for Virtual Interaction with Medical Image Data
Open this publication in new window or tab >>Modeling and Visualization for Virtual Interaction with Medical Image Data
2020 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Interactive systems for exploring and analysing medical three dimensional (3D) volume image data using techniques such as stereoscopic rendering and haptics can lead to new workflows for virtual surgery planning. This includes the design of patient-specific surgical guides and plates for additive manufacturing (3D printing). Our applications, medical visualization and cranio-maxillofacial surgery planning, involve large volume data such as computed tomo\-graphy (CT) images with millions of data points. This motivates the development of fast and efficient methods for visualization and haptic rendering, as well as the development of efficient modeling techniques for simplifying the design of 3D printable parts. In this thesis, we develop methods for visualization and haptic rendering of isosurfaces in volume image data, and show applications of these methods to medical visualization and virtual surgery planning. We further develop methods for modeling surgical guides and plates for cranio-maxillofacial surgery, and integrate them into our system for haptics-assisted surgery planning called HASP. This system is now installed at the department of surgical sciences, Uppsala University, and is being evaluated for use in clinical research.

Place, publisher, year, edition, pages
Uppsala: Acta Universitatis Upsaliensis, 2020. p. 50
Series
Digital Comprehensive Summaries of Uppsala Dissertations from the Faculty of Science and Technology, ISSN 1651-6214 ; 1898
Keywords
medical image processing, volume rendering, haptic rendering, medical visualization, virtual surgery planning
National Category
Computer Sciences Medical Image Processing
Research subject
Computerized Image Processing
Identifiers
urn:nbn:se:uu:diva-403104 (URN)978-91-513-0864-7 (ISBN)
Public defence
2020-03-13, ITC 2446, Lägerhyddsvägen 2, Hus 2, Polacksbacken, Uppsala, 10:15 (English)
Opponent
Supervisors
Available from: 2020-02-19 Created: 2020-01-23 Last updated: 2020-02-19

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Malmberg, FilipNyström, Ingela

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