About

Imported from nvidia/skills (skills/i4h-catheter-navigation-viewport/SKILL.md). Install upstream with npx skills add nvidia/skills --skill i4h-catheter-navigation-viewport. Copyright stays with the author (Apache-2.0).

i4h Catheter Navigation - Interactive Viewport

Name: i4h-catheter-navigation-viewport
Author: nvidia

Purpose

Launch the interactive fluoroscopy viewport with real-time XPBD catheter physics, DSA, C-arm presets, and centerline-guided insertion. Requires a digital twin cache from [[i4h-catheter-navigation-digital-twin]].

Base Code

ROOT="${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}"
if [ ! -d "$ROOT/workflows/catheter_navigation" ]; then
  ROOT="${I4H_WORKFLOWS:-$HOME/i4h-workflows}"
  [ -d "$ROOT/workflows/catheter_navigation" ] || git clone https://github.com/isaac-for-healthcare/i4h-workflows "$ROOT"
fi
export I4H_WORKFLOWS="$ROOT"; cd "$ROOT"

Basics

Entry mode: ./i4h run catheter_navigation interactive_viewport (preferred)
Requires display (X11); remote/VNC may need QT_QPA_PLATFORM=xcb.
Recommended flags: --vessel-source real --insertion-axis centerline --dsa --key-hold-ttl 0.20

Run

Run the steps below in order. Each step is a separate bash call; variables persist in the local agent's tmux session.

Step 1 - resolve cache and run dir

REPO_ROOT="${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}"; [ -d "$REPO_ROOT/workflows/catheter_navigation" ] || REPO_ROOT="$HOME/i4h-workflows"
WF_ROOT="${REPO_ROOT}/workflows/catheter_navigation"
RUN_DIR="${WF_ROOT}/runs/viewport_$(date +%Y%m%d_%H%M%S)"
mkdir -p "${RUN_DIR}/logs"
ln -sfn "${RUN_DIR}" "${WF_ROOT}/runs/.latest"

CACHE="${CACHE:-/tmp/ct_cache}"
if [ ! -f "${CACHE}/mu_volume.npy" ]; then
  echo "viewport: set CACHE to a digital-twin dir (missing mu_volume.npy). Run i4h-catheter-navigation-digital-twin first." >&2
  exit 1
fi

Step 2 - launch viewport

QT_QPA_PLATFORM="${QT_QPA_PLATFORM:-xcb}" \
"${REPO_ROOT}/i4h" run catheter_navigation interactive_viewport --local \
  --run-args="--ct-dir ${CACHE} --vessel-source real --insertion-axis centerline --det-size 1024 --pixel-spacing-mm 0.6 --dsa" \
  2>&1 | tee "${RUN_DIR}/logs/viewport.log"

Controls (summary)

Input	Action
W / S	Advance / retract catheter along centerline
A / D	Rotate catheter CCW / CW
F / C	Toggle vessel / centerline overlay
X	Toggle DSA contrast bolus
1-4	C-arm presets (AP, LAO-45, Lateral, RAO-30)
Space	Pause / resume
R	Reset catheter
Q / Esc	Quit

Full table: workflows/catheter_navigation/README.md.

Prerequisites

[[i4h-catheter-navigation-setup]] and [[i4h-catheter-navigation-digital-twin]] completed.
Display server (local X11 or remote desktop with keyboard focus).
GPU with >= 8 GB VRAM (16 GB recommended).

Limitations

Interactive GUI - not suitable for headless CI.
Keyboard focus on remote desktops may require pointer over the fluoro window.

Troubleshooting

Error: controls appear dead on remote X11 - Fix: QT_QPA_PLATFORM=xcb (Step 2 sets this by default).
Error: missing cache - Fix: run [[i4h-catheter-navigation-digital-twin]].
Error: Vulkan / slang init failure - Fix: verify GPU driver; try Docker without --local.

Final Response

Report CACHE used, note any display/input workarounds applied, and point to README controls if the user needs the full key map.

Use it

Copy one of these into your project. Installing also returns the manifest and these snippets.

yaml

targets:
  - https://api.opensmartroute.ai/api/v1/registry/nvidia-skills-i4h-catheter-navigation-viewport/manifest   # or paste the manifest below

Manifest

An Open Capability Manifest: the router reads it to know what this does, what it costs and when to pick it.

nvidia-skills-i4h-catheter-navigation-viewport.ocm.jsonjson

{
  "ocm": "1",
  "id": "nvidia-skills-i4h-catheter-navigation-viewport",
  "kind": "skill",
  "name": "i4h-catheter-navigation-viewport",
  "description": "Launch the interactive Slang fluoroscopy viewport with XPBD catheter physics. Use when asked to open the viewport, teleop a catheter, or demo fluoro navigation.",
  "publisher": "nvidia",
  "version": "1.0.0",
  "capabilities": {
    "domains": [
      "general"
    ],
    "tags": [
      "skill-md",
      "isaac-for-healthcare",
      "i4h",
      "catheter-navigation",
      "viewport",
      "interactive",
      "skills-sh"
    ],
    "languages": [
      "en"
    ]
  },
  "quality_prior": 0.6,
  "examples": [
    "Launch the interactive Slang fluoroscopy viewport with XPBD catheter physics. Use when asked to open the viewport, teleop a catheter, or demo fluoro navigation."
  ],
  "primary": false,
  "metadata": {
    "source": {
      "provider": "skills.sh",
      "repository": "https://github.com/nvidia/skills",
      "path": "skills/i4h-catheter-navigation-viewport/SKILL.md",
      "ref": "HEAD",
      "url": "https://github.com/nvidia/skills/blob/HEAD/skills/i4h-catheter-navigation-viewport/SKILL.md",
      "key": "nvidia/skills/skills/i4h-catheter-navigation-viewport/SKILL.md"
    },
    "license": "Apache-2.0"
  },
  "instructions": "# i4h Catheter Navigation - Interactive Viewport\n\n## Purpose\n\nLaunch the interactive fluoroscopy viewport with real-time XPBD catheter physics, DSA, C-arm presets, and centerline-guided insertion. Requires a digital twin cache from [[i4h-catheter-navigation-digital-twin]].\n\n## Base Code\n\n```bash\nROOT=\"${I4H_WORKFLOWS:-$(git rev-parse --show-toplevel 2>/dev/null)}\"\nif [ ! -d \"$ROOT/workflows/catheter_navigation\" ]; then\n  ROOT=\"${I4H_WORKFLOWS:-$HOME/i4h-workflows}\"\n  [ -d \"$ROOT/workflows/catheter_navigation\" ] || git clone https://github.com/isaac-for-healthcare/i4h-workflows \"$ROOT\"\nfi\nexpor",
  "cost": {
    "context_tokens": 801
  }
}

Fetch it by URL: GET /api/v1/registry/nvidia-skills-i4h-catheter-navigation-viewport/manifest?version=1.0.0

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