Isaac for Healthcare - Asset Catalog
The Isaac for Healthcare (i4h) asset catalog is a collection of assets that are used to create the i4h simulation environment.
Asset Categories
The i4h asset catalog contains several categories of assets that are essential for creating realistic healthcare simulations:
Pre-trained Models
- Medical Imaging Models: Deep learning models trained for medical image analysis, segmentation, and diagnosis
- Surgical Planning Models: AI models for surgical procedure planning and optimization
- Patient-specific Models: Models trained on patient data for personalized healthcare applications
Simulation-Ready Robots
- Surgical Robots: Detailed 3D models of surgical robotic systems with accurate kinematics and dynamics
- Medical Assist Robots: Models of robots used for patient assistance and care
- Lab Automation Robots: Models of robots used in laboratory settings
Anatomical Models
- Standard Anatomy: High-fidelity 3D models of human anatomy for general simulation
- Pathological Models: Models representing various disease states and conditions
- BYO (Bring Your Own) Anatomy: Support for importing custom anatomical models with proper documentation and validation guidelines
Visual Assets
- Medical Equipment: 3D models of medical devices and equipment
- Hospital Environment: Models of hospital rooms, operating theaters, and medical facilities
- Materials and Textures: High-quality textures and materials for realistic rendering
Configuration Files
- Simulation Parameters: Configuration files for physics, rendering, and simulation settings
- Workflow Templates: Pre-configured workflow templates for common medical procedures
- Environment Setups: Configuration files for different simulation environments
Asset Documentation
Each asset category includes detailed documentation, usage guidelines, and compatibility information to ensure proper integration into the i4h simulation environment.
Version Information
The asset catalog follows the Isaac Lab asset structure. You can find the asset for each version in the corresponding folders.
Version 0.2.0
Contains all assets from Version 0.1.0 plus: - Pre-trained models for liver scanning: - GR00TN1 - GR00TN1_Cosmos - Pi0 model with Cosmos - Mira Surgical Robot
Catalog: v0.2.0
Version 0.1.0
Contains the initial release of the asset catalog with: - Basic anatomical models - Standard medical equipment - Hospital environment assets - Franka Robot Assets - Pi0 models including: - Liver scan policies and configurations - Model weights and training states - Normalization statistics - Parameter manifests and metadata
Catalog: v0.1.0
Asset Helper Tool
You can also use the i4h_asset_helper
package to get the download links for the assets. For more details, please refer to I4H Assets Catalog Helper.