Layer 0 of the Seldinger embodied-medical-AI stack: a differentiable, GPU-parallel contact & coupling solver for a continuum instrument in a deformable lumen. Built on NVIDIA Newton.

Apples-to-apples accuracy comparison of NVIDIA Newton's soft-body solvers (XPBD / VBD / SemiImplicit, on Warp/CUDA) vs. an implicit FEniCSx/dolfinx FEM reference and closed-form analytic solutions — same mesh, material and gravity, only the solver differs. Colab-ready.