# UltrabotX: Robotic Ultrasound Simulation

> A teleoperated robot arm scanning a simulated patient, with live ultrasound rendered as the probe moves.

- Year: 2026
- Period: May 2026 – present
- Type: personal
- Stack: Genesis, NVIDIA Isaac for Healthcare, OptiX, Python
- Source: https://github.com/arinweling/Ultrabotx/blob/main/README.md

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A port of NVIDIA Isaac for Healthcare's robotic ultrasound workflow to the
Genesis simulator, to run it at lower compute cost.

- A Franka Panda arm carries an ultrasound probe on its end-effector, driven by
  6-DoF inverse-kinematics teleoperation from the keyboard.
- raysim, NVIDIA's OptiX-based GPU ray-tracing ultrasound simulator, renders a
  live B-mode image as the probe moves over an abdominal phantom.
- A CT-to-USD pipeline uses NVIDIA's medical segmentation models to turn public
  CT datasets into segmented 3D anatomy for the simulator to scan.