ArticleSensors (Basel, Switzerland)2026
Digital Twin-Based Virtual Reality Framework for Interaction and AI-Assisted Control of a Parallel Surgical Robot.
Article in Sensors (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Authors and funding
10 authors.
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Abstract
The rapid advancement of robot-assisted minimally invasive surgery (RAMIS) has created an increasing demand for integrated solutions that combine advanced robotic actuation, sensing, and intelligent control within unified training and operational frameworks. This paper presents a Digital Twin-based virtual reality (VR) interaction and control system developed for an innovative parallel surgical robot, designed to support both surgical training and real-time robot interaction. The proposed framework extends a conventional VR simulator into a bidirectional Digital Twin architecture, enabling real-time synchronization between a virtual environment and the physical robotic system. The system integrates the ATHENA parallel robot, characterized by a 4-degree-of-freedom architecture with a Remote Center of Motion (RCM) constraint, together with a flexible laparoscopic instrument providing enhanced dexterity. Interaction is achieved using VR controllers, allowing intuitive manipulation of the robotic system within an immersive environment. To enhance operational performance, an artificial intelligence module based on neural networks is integrated as an assistive component, providing real-time trajectory refinement and motion guidance. The trained model is deployed using an ONNX-compatible runtime, ensuring efficient inference and seamless integration within the control architecture. The proposed system is validated through experimental evaluation of user interaction and task execution performance, as well as through external motion assessment using an OptiTrack optical tracking system. The results demonstrate improvements in motion stability, execution efficiency, and user interaction quality, while maintaining a high level of control intuitiveness. The findings highlight the potential of Digital Twin-based VR systems as a unifying platform for surgical training, interaction, and intelligent assistance in next-generation medical robotic systems.
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the Socratic graph.