Telesurgery Workflow #149

SachidanandAlle · 2025-05-28T12:42:35Z

Env setup (similar to other 2 workflows)
IGX Support to run patient in real/physical world
x86 Support to run patient in simulation world
Surgeon to fetch/instruct command over Gamepad
Haply device support for both SIM and Real
Dockerfile (needs to be verified; otherwise it's just a copy based on other 2 workflows)

HINT:: Reviewers Install and Try the setup
HINT:: Do direct Code walk

Signed-off-by: Sachidanand Alle <[email protected]>

workflows/telesurgery/README.md

Signed-off-by: Sachidanand Alle <[email protected]>

binliunls · 2025-05-29T15:48:02Z

workflows/telesurgery/README.md

+## Quick Start
+
+### X86
+1. Install NVIDIA driver (>= 555) and CUDA (>= 12.6)


I think this line can be removed and merge the x86 setup and aarch63 setup together.

Thanks,
Bin

workflows/telesurgery/README.md

binliunls · 2025-05-29T15:52:13Z

workflows/telesurgery/README.md

+export PATIENT_IP=10.137.145.163
+export SURGEON_IP=10.111.66.170
+```
+> Make sure MIRA API Server is up and running (port: 8081) in case of Physical World.


May need more details or the link of set up MIRA here.

Thanks,
Bin

ping @wendell-hom

@SachidanandAlle @Nic-Ma is the MIRA api server needed for simulation side? If not, then I suggest removing this line for now for v0.2

workflows/telesurgery/README.md

binliunls · 2025-05-29T15:57:18Z

workflows/telesurgery/README.md

+   cd <path-to-i4h-workflows>
+   bash tools/env_setup_telesurgery.sh
+   ```
+4. Set environment variables:


Some duplication between line 51-55 and line 79-91.

Thanks,
Bin

workflows/telesurgery/README.md

Copilot

Pull Request Overview

This PR introduces the full telesurgery workflow, adding camera operators, environment setup scripts, DDS configuration, Docker support, and documentation.

Added RealSense and OpenCV camera operators under holohub/operators/camera.
Included DDS QoS profile, buffer tuning, and utility scripts for environment setup.
Provided Docker setup and comprehensive README updates for running simulation and physical workflows.

Reviewed Changes

Copilot reviewed 69 out of 69 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
workflows/telesurgery/scripts/holohub/operators/camera/realsense.py	RealSense camera operator implementation
workflows/telesurgery/scripts/holohub/operators/camera/cv2.py	OpenCV video capture operator implementation
workflows/telesurgery/scripts/holohub/operators/camera/init.py	Package initialization for camera operators
workflows/telesurgery/scripts/holohub/operators/init.py	Package initialization for holohub operators
workflows/telesurgery/scripts/holohub/init.py	Package initialization for holohub module
workflows/telesurgery/scripts/holohub/README.md	Holoscan operator folder description
workflows/telesurgery/scripts/env.sh	Environment variable setup script
workflows/telesurgery/scripts/dds/qos_profile.xml	DDS QoS profile for telesurgery
workflows/telesurgery/scripts/dds/buffers.sh	UDP buffer inspection and tuning script
workflows/telesurgery/scripts/dds/README.md	DDS troubleshooting guide
workflows/telesurgery/scripts/dds/.gitignore	Ignored DDS license file
workflows/telesurgery/scripts/common/utils.py	NTP offset and utility functions
workflows/telesurgery/scripts/common/init.py	Package initialization for common utilities
workflows/telesurgery/scripts/init.py	Root scripts package initialization
workflows/telesurgery/requirements.txt	Python dependencies for telesurgery workflow
workflows/telesurgery/docker/setup.sh	Docker helper script for launching the container
workflows/telesurgery/docker/README.md	Docker usage guide
workflows/telesurgery/docker/Dockerfile	Dockerfile for building telesurgery image
workflows/telesurgery/README.md	Top-level telesurgery workflow documentation
tools/env_setup_telesurgery.sh	Automated environment setup script

Comments suppressed due to low confidence (1)

workflows/telesurgery/scripts/holohub/operators/camera/cv2.py:25

[nitpick] Add unit or integration tests for CV2VideoCaptureOp to verify successful initialization, frame capture, conversion, and error handling.

class CV2VideoCaptureOp(Operator):

Copilot · 2025-05-29T16:27:04Z

workflows/telesurgery/scripts/holohub/operators/camera/cv2.py

+
+    def __init__(self, fragment, width: int, height: int, device_idx: int, framerate: int, *args, **kwargs):
+        """
+        Initialize the RealSense operator.


[nitpick] Update the constructor docstring to accurately describe CV2VideoCaptureOp and its parameters instead of referencing RealSense and unused args.

Copilot · 2025-05-29T16:27:04Z

workflows/telesurgery/scripts/holohub/operators/camera/cv2.py

+        self.device_idx = device_idx
+        self.framerate = framerate
+
+        self.stream_type = 2  # color


[nitpick] Replace the magic number 2 with a descriptive constant or enum (e.g., cv2.CAP_PROP_CONVERT_RGB) for clarity.

Suggested change

self.stream_type = 2 # color

self.stream_type = STREAM_TYPE_COLOR

Copilot · 2025-05-29T16:27:05Z

workflows/telesurgery/scripts/holohub/operators/camera/cv2.py

+        self.framerate = framerate
+
+        self.stream_type = 2  # color
+        self.stream_format = 5  # rgb


[nitpick] Replace the magic number 5 with a descriptive constant or enum (e.g., cv2.COLOR_BGR2RGB) for consistency and readability.

Suggested change

self.stream_format = 5 # rgb

self.stream_format = STREAM_FORMAT_RGB # rgb

workflows/telesurgery/scripts/dds/buffers.sh

workflows/telesurgery/scripts/holohub/operators/camera/realsense.py

Fix a few minor issues in the README file. --------- Signed-off-by: binliu <[email protected]>

mingxin-zheng · 2025-05-29T16:36:28Z

tools/env_setup_telesurgery.sh

+# ---- Install build tools (Common) ----
+echo "Installing build tools..."
+if [ "$EUID" -ne 0 ]; then
+    sudo apt-get install -y git cmake build-essential pybind11-dev v4l-utils


We may need to add v4l-utils in the NOTICE.txt

Added the following

v4l-utils (https://github.com/gjasny/v4l-utils) Copyright (C) 1989, 1991 Free Software Foundation, Inc. Licensed under GPL-2.0 (https://github.com/gjasny/v4l-utils/blob/master/COPYING)

mingxin-zheng · 2025-05-29T16:39:58Z

workflows/telesurgery/docker/Dockerfile

+# Fix livestream public endpoint address issue in 2.0.2/2.1.0
+RUN sed -i '/--\/app\/livestream\/publicEndpointAddress=/d' /workspace/isaaclab/source/isaaclab/isaaclab/app/app_launcher.py
+
+# Install uv using curl for openpi


It seems we copied this comment from robot us docker which is no longer valid. We should remove this line

mingxin-zheng · 2025-05-29T16:40:47Z

workflows/telesurgery/docker/Dockerfile

+
+WORKDIR /tmp
+
+RUN apt-get update && \


CUDA 12.8 Installation is heavy (~2GB) CUDA toolkit installation might be unnecessary for telesurgery.

we need cuda toolkit for nvjpeg

mingxin-zheng · 2025-05-29T16:42:32Z

workflows/telesurgery/docker/Dockerfile

+WORKDIR /workspace
+
+# Fix livestream public endpoint address issue in 2.0.2/2.1.0
+RUN sed -i '/--\/app\/livestream\/publicEndpointAddress=/d' /workspace/isaaclab/source/isaaclab/isaaclab/app/app_launcher.py


If webrtc livestream is not used, this patch may not be needed.

mingxin-zheng · 2025-05-29T16:43:39Z

workflows/telesurgery/scripts/holohub/operators/delay.py

+class DelayOp(Operator):
+    """A delay operator that takes input and waits for few milliseconds."""
+
+    def __init__(self, fragment, deplay_ms, *args, **kwargs):


Typo in variable name: deplay_ms should be delay_ms

mingxin-zheng · 2025-05-29T16:44:10Z

workflows/telesurgery/scripts/holohub/operators/hid/haply.py

+from holoscan.core._core import OperatorSpec
+
+
+class HaplyOp(Operator):


This seems to be a skeleton with empty methods

mingxin-zheng · 2025-05-29T16:45:32Z

workflows/telesurgery/scripts/surgeon/gamepad.py

+    """Parse command-line arguments and run the application."""
+    parser = argparse.ArgumentParser(description="Run the hid application")
+    parser.add_argument("--device_idx", type=int, default=0, help="device index case of multiple joysticks")
+    parser.add_argument("--api_host", type=str, default="10.137.145.163", help="api server host")


We have serveral places that is harded to 10.137.145.163. We may need to find a way to make it more flexible

lets fetch default values from env variables instead.. that reduces the direct ip exploration

mingxin-zheng · 2025-05-29T16:46:59Z

workflows/telesurgery/README.md

@@ -0,0 +1,138 @@
+# Telesurgery Workflow


Please also update the project root main project README.md. It mentions only two workflows (robotic_surgery and robotic_ultrasound) but doesn't include telesurgery. Optionally, we can also add a FIXME there to remind the team to add that later

Added a link in the top-level README.

mingxin-zheng · 2025-05-29T16:52:22Z

workflows/telesurgery/scripts/holohub/operators/camera/cv2.py

+
+import time
+
+import cv2


Also need to include this in the NOTICE.txt

Added

opencv-python (https://github.com/opencv/opencv-python) Copyright (c) Olli-Pekka Heinisuo License under MIT (https://github.com/opencv/opencv-python/blob/4.x/LICENSE.txt)

mingxin-zheng · 2025-05-29T16:54:10Z

workflows/telesurgery/tests/__init__.py

@@ -0,0 +1,14 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.


Is it possible to construct any tests without the hardware? Thanks!

workflows/telesurgery/scripts/surgeon/camera.py

workflows/telesurgery/scripts/surgeon/haply.py

Nic-Ma · 2025-05-30T11:07:35Z

workflows/telesurgery/README.md

+### [Option-2] Patient in Simulation World _(x86)_
+```bash
+# download the assets
+export ISAAC_ASSET_SHA256_HASH=8e80faed126c533243f50bb01dca3dcf035e86b5bf567d622878866a8ef7f12d


@mingxin-zheng Can we remove this line now?

Thanks.

Nic-Ma · 2025-05-30T11:12:26Z

workflows/telesurgery/docker/README.md

@@ -0,0 +1,72 @@
+__TODO::__ This document needs update


@SachidanandAlle will you update the doc in this PR or future?

Thanks.

Nic-Ma · 2025-05-30T11:14:19Z

workflows/telesurgery/scripts/dds/.gitignore

@@ -0,0 +1 @@
+rti_license.dat


@mingxin-zheng Shoud we move this file to the root?

Thanks.

Nic-Ma · 2025-05-30T11:23:00Z

workflows/telesurgery/scripts/holohub/operators/mira/haply/controller_async.py

+
+# Run the asynchronous main function
+if __name__ == "__main__":
+    asyncio.run(main("ws://localhost:10001", "10.137.145.163", 8081))


I think we should not hardcode the IP address here, can we pass it in the CLI command?

Thanks.

workflows/telesurgery/scripts/patient/simulation/main.py

workflows/telesurgery/scripts/pyproject.toml

Add a new encoder/decoder option: `nvc` using NVIDIA Video Codec. The encoder and decoder operators are in C++ with Python wrappers. ### Known Issue The simulated surgeon app prints the following error when attempting to access the Tensor in the `CameraStreamStats` operators: ``` [error] [entity.hpp:90] Unable to find component from the name '' (error: GXF_ENTITY_COMPONENT_NOT_FOUND) ``` --------- Signed-off-by: Victor Chang <[email protected]>

Signed-off-by: Victor Chang <[email protected]>

Signed-off-by: Sachidanand Alle <[email protected]>

Update env_setup_telesurgery.sh to install the Haply Inverse Service Co-authored-by: Wendell Hom <[email protected]>

Signed-off-by: Sachidanand Alle <[email protected]>

binliunls · 2025-06-02T04:33:06Z

workflows/telesurgery/scripts/patient/simulation/camera/sensor.py

+    def _data_acquisition_callback(self, event: carb.events.IEvent):
+        super()._data_acquisition_callback(event)
+
+        if self.callback and self._current_frame["rendering_frame"] != self.prev_rendering_frame:


Hi @SachidanandAlle ,
I've added a few output here for the self._current_frame["rendering_frame"] and self.prev_rendering_frame. And here is the result. I think this is the reason why I stuck at the camera window. I am not sure if this is a bug or we need to trigger something to make the app work.

NFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: -1 INFO:root:[CameraEx] Sending frame 0 to callback INFO:root:[CameraEx] RGB shape: (1920, 1080, 3) INFO:root:[CameraApp] Frame 0 received, data shape: (1920, 1080, 3) INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0

SachidanandAlle · 2025-06-02T04:41:32Z

Did you click the play button in the Isaac SIM.. looks like there is no change in the frame.. hence sim callback is not sending any new frames to the client..

…

On Sun, Jun 1, 2025, 9:33 PM binliunls ***@***.***> wrote: ***@***.**** commented on this pull request. ------------------------------ In workflows/telesurgery/scripts/patient/simulation/camera/sensor.py <#149 (comment)> : > +class CameraEx(Camera): + def __init__(self, channels=3, *args, **kwargs): + super().__init__(*args, **kwargs) + + self.channels = channels + self.prev_rendering_frame = -1 + self.frame_counter = 0 + self.callback = None + + def set_callback(self, callback): + self.callback = callback + + def _data_acquisition_callback(self, event: carb.events.IEvent): + super()._data_acquisition_callback(event) + + if self.callback and self._current_frame["rendering_frame"] != self.prev_rendering_frame: Hi @SachidanandAlle <https://github.com/SachidanandAlle> , I've added a few output here for the self._current_frame["rendering_frame"] and self.prev_rendering_frame. And here is the result. I think this is the reason why I stuck at the camera window. I am not sure if this is a bug or we need to trigger something to make the app work. NFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: -1 INFO:root:[CameraEx] Sending frame 0 to callback INFO:root:[CameraEx] RGB shape: (1920, 1080, 3) INFO:root:[CameraApp] Frame 0 received, data shape: (1920, 1080, 3) INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 INFO:root:[CameraEx] Data acquisition event received current frame: 0, prev_rendering_frame: 0 — Reply to this email directly, view it on GitHub <#149 (review)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABX7YK2D3QOBQ3H7ALSBTLL3BPHZPAVCNFSM6AAAAAB6CW7XO2VHI2DSMVQWIX3LMV43YUDVNRWFEZLROVSXG5CSMV3GSZLXHMZDQOBWGY4DCOJZGQ> . You are receiving this because you were mentioned.Message ID: ***@***.***>

binliunls · 2025-06-02T05:13:58Z

Thanks, this works. I think it would be better if there is a way to config the app to run automatically or we can start it through code, so that it would be easy for testing. Will try to figure it out.

SachidanandAlle · 2025-06-02T05:16:43Z

Check with Yiheng.. he might have a solution to this. Most of the logic is coming from his MIRA robot example *Thanks & Regards* *SACHI*

…

On Sun, Jun 1, 2025, 10:14 PM binliunls ***@***.***> wrote: *binliunls* left a comment (isaac-for-healthcare/i4h-workflows#149) <#149 (comment)> Thanks, this works. I think it would be better if there is a way to config the app to run automatically or we can start it through code, so that it would be easy for testing. Will try to figure it out. — Reply to this email directly, view it on GitHub <#149 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABX7YK75GOQOM45JEK5QXAL3BPMSZAVCNFSM6AAAAAB6CW7XO2VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDSMRYG44TOMZRGQ> . You are receiving this because you were mentioned.Message ID: ***@***.***>

Update instructions to run the applications in a containerized environment. - Improve OOBE on a single system setup - Reduce the number of manual steps wherever possible Tested with the following configurations - [x] Run Surgeon app - [x] Run Patient simulated app --------- Signed-off-by: Victor Chang <[email protected]>

Signed-off-by: Sachidanand Alle <[email protected]>

Reverts #157

Add the integration test --------- Signed-off-by: binliu <[email protected]> Signed-off-by: binliunls <[email protected]>

Signed-off-by: binliu <[email protected]>

mingxin-zheng · 2025-06-03T09:32:58Z

/build

Signed-off-by: binliu <[email protected]>

mingxin-zheng · 2025-06-03T10:57:32Z

/build

SachidanandAlle added 11 commits May 27, 2025 20:09

First draft for telesurgery workflow

c23ee7a

Signed-off-by: Sachidanand Alle <[email protected]>

Fix readme + req

756aec8

Signed-off-by: Sachidanand Alle <[email protected]>

Fix for igx

cd47591

Signed-off-by: Sachidanand Alle <[email protected]>

Fix Readme

763d26e

Signed-off-by: Sachidanand Alle <[email protected]>

Fix Readme

d1449e4

Signed-off-by: Sachidanand Alle <[email protected]>

Support gamepad for SIM

18f39d9

Signed-off-by: Sachidanand Alle <[email protected]>

Support gamepad for SIM

38b9e81

Signed-off-by: Sachidanand Alle <[email protected]>

Support gamepad for SIM

15e6559

Signed-off-by: Sachidanand Alle <[email protected]>

Rearrange HID Opeators + API Server logic

ea6ccd1

Signed-off-by: Sachidanand Alle <[email protected]>

Fix readme

82f3384

Signed-off-by: Sachidanand Alle <[email protected]>

Fix headers

76a417b

Signed-off-by: Sachidanand Alle <[email protected]>

mocsharp reviewed May 28, 2025

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SachidanandAlle added 2 commits May 28, 2025 10:56

Fix lint errors

85d6e3d

Signed-off-by: Sachidanand Alle <[email protected]>

support haply for sim + real

f21510c

Signed-off-by: Sachidanand Alle <[email protected]>

SachidanandAlle marked this pull request as ready for review May 28, 2025 20:54

fixes for haply

3004dcd

Signed-off-by: Sachidanand Alle <[email protected]>

binliunls reviewed May 29, 2025

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mingxin-zheng requested a review from Copilot May 29, 2025 16:24

Copilot AI reviewed May 29, 2025

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Fix issues minor issues

66b3a0f

Fix a few minor issues in the README file. --------- Signed-off-by: binliu <[email protected]>

mingxin-zheng reviewed May 29, 2025

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mocsharp reviewed May 29, 2025

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Nic-Ma reviewed May 30, 2025

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Nic-Ma reviewed May 30, 2025

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mocsharp and others added 7 commits May 30, 2025 09:54

address review feedback

137cc00

Signed-off-by: Victor Chang <[email protected]>

Merge branch 'main' into sachi/telesurgery

642291d

Fix few review comments

612cb7a

Signed-off-by: Sachidanand Alle <[email protected]>

Install Haply Inverse Service (#156)

45cafcd

Update env_setup_telesurgery.sh to install the Haply Inverse Service Co-authored-by: Wendell Hom <[email protected]>

Fixes for IGX + rename name attr in base class

53bc49e

Signed-off-by: Sachidanand Alle <[email protected]>

fix review comments

5991387

Signed-off-by: Sachidanand Alle <[email protected]>

binliunls reviewed Jun 2, 2025

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whom3 and others added 5 commits June 2, 2025 22:12

Add lsb-release as dependency

cb7bd5f

remove rti license file

d3008cd

Signed-off-by: Sachidanand Alle <[email protected]>

Revert "Telesurgery Docker Support" (#159)

ac48f71

Reverts #157

Add the integration test for the telesurgery workflow (#158)

c1be875

Add the integration test --------- Signed-off-by: binliu <[email protected]> Signed-off-by: binliunls <[email protected]>

Nic-Ma approved these changes Jun 3, 2025

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binliunls and others added 2 commits June 3, 2025 16:47

add copyright to the test file

27c331c

Signed-off-by: binliu <[email protected]>

Merge branch 'main' into sachi/telesurgery

f4f0e0a

remove asset export since it has been updated

c18a441

Signed-off-by: binliu <[email protected]>

mingxin-zheng merged commit 46e4b5f into main Jun 3, 2025
4 checks passed

	self.stream_type = 2 # color
	self.stream_type = STREAM_TYPE_COLOR

	self.stream_format = 5 # rgb
	self.stream_format = STREAM_FORMAT_RGB # rgb

		from holoscan.core._core import OperatorSpec


		class HaplyOp(Operator):

		@@ -0,0 +1,14 @@
		# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.

		@@ -0,0 +1 @@
		rti_license.dat

Telesurgery Workflow #149

Telesurgery Workflow #149

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SachidanandAlle commented May 28, 2025 •

edited

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