I'm talking about general ability of whatever Scheme you use to call a shared object's API, and I'm not sure if TinyScheme is at all able to call alien C libraries (.so or .dll). OTOH I think Chicken can do it, so both IUP+SDL and IUP+OpenGL seem feasible: depending on your preference, you just create an IUP dialog window and assign an SDL or OpenGL canvas to it and then use the corresponding SDL or OpenGL API's to draw on it.
P.S. Oh, so you know how to draw on an IUP canvas or at least set pixels on it, don't you?