A master-slave robotic simulator based on GPUDirect

Author

Li, Jianying ; Guo, Yu ; Zhang, Heye ; Xie, Yongming

fYear

2012

fDate

7-12 Oct. 2012

Firstpage

5203

Lastpage

5207

Abstract

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.

Keywords

computer based training; data communication; graphics processing units; medical robotics; peripheral interfaces; surgery; synchronisation; telecommunication network topology; telemedicine; telerobotics; virtual reality; GPUDirect; InfiniBand card; NVIDIA TeslaTM products; computer technologies; data transmission speed; display rate; instrument manipulation; master-slave robotic simulator; performance improvement; remote GPU; synchronization; telerobotic surgery; training; virtual reality; Computers; Graphics processing units; Master-slave; Robots; Surgery; TV; Training;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Conference_Location

Vilamoura

ISSN

2153-0858

Print_ISBN

978-1-4673-1737-5

Type

conf

DOI

10.1109/IROS.2012.6385808

Filename

6385808