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Interpolating an arbitrary topology mesh by a smooth surface plays an important role in geometric modeling and computer graphics. In this paper we present an efficient new algorithm for constructing a Doo-Sabin subdivision surface that interpolates a given mesh. By introducing additional degrees of freedom, the control vertices of the Doo-Sabin subdivision surface can be obtained directly with no need to solve any initial or intermediate large systems. The control points are computed by modifying the geometric rules of the first step of Doo-Sabin subdivision scheme and the resulting surface interpolates given vertices and optionally normal vectors at the vertices. The method has several merits for surface modeling purposes: (1) Efficiency: we obtain a generalized quadratic B-spline surface to interpolate a given mesh in a robust and simple manner. (2) Simplicity: we use only simple geometric rules to construct a smooth surface interpolating given data. (3) Locality: the perturbation of a given vertex only influences the surface shape near this vertex. (4) Freedom: for each vertex, there is one degree of freedom to adjust the shape of the interpolation surface. These features make surface interpolation using Doo-Sabin surface very simple and thus make the method itself suitable for interactive free-form shape design.