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Digital Twin-Driven VR Teleoperation with Multi-View Spatial Perception for Surgical Robots — arXiv:2609.25527

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.25527
License (as archived): CC0-1.0
Archived: 2026-10-08T16:43:24.248Z
SHA-256 of the archived text: 9d3fc3e81fe159e3ba16b371a8d6432e60bcf44d2b6bb5abe5b184e5ef89c3d8
Stable URL of this page: https://metraipolis.com/documento/dc_e984e94beffa

How to cite

Digital Twin-Driven VR Teleoperation with Multi-View Spatial Perception for Surgical Robots — arXiv:2609.25527 — arXiv (en), https://arxiv.org/abs/2609.25527 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_e984e94beffa (Metraipolis archive dc_e984e94beffa, sha256 9d3fc3e81fe159e3ba16b371a8d6432e60bcf44d2b6bb5abe5b184e5ef89c3d8)

BibTeX

@misc{dce984e94beffa,
  title = {Digital Twin-Driven VR Teleoperation with Multi-View Spatial Perception for Surgical Robots — arXiv:2609.25527},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.25527},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_e984e94beffa; sha256 9d3fc3e81fe159e3ba16b371a8d6432e60bcf44d2b6bb5abe5b184e5ef89c3d8},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.25527. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Current robot-assisted minimally-invasive surgery (RMIS) platforms provide a fixed console for the surgeon to view stereo endoscopic images and teleoperate instruments inside the patient. Several researchers have proposed the use of a head-mounted display (HMD) as a portable console, with video pass-through rendering of the endoscope images which, like the fixed console, restricts the operator to a single endoscopic viewpoint and limits depth perception. We present a digital twin-driven virtual reality (VR) teleoperation platform, where the digital twin is created from markerless perception of the surgical environment and streamed for display on the HMD. This overcomes the limitations of video pass-through by providing multi-view rendering and natural motion-parallax cues, enabling decoupling of the user's hand posture from strict instrument alignment. The system utilizes VR hand controllers to increase the teleoperation workspace and to improve the robustness and stability of instrument control compared to the hand tracking approach adopted by most prior systems. A 15-participant user study on the da Vinci Research Kit (dVRK) shows that our VR platform significantly outperforms a state-of-the-art HoloLens 2 mixed reality baseline, reducing path length by 86% and jerk by 95%, while achieving depth perception confidence comparable to or exceeding the traditional console across all conditions.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-23 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.25527 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T15:56:53.434Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-23?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).