Digital Twin-Driven VR Teleoperation with Multi-View Spatial Perception for Surgical Robots

arXiv:2609.25527 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Comments: 8 pages, 8 figures. Accepted to IROS 2026

Code: https://github.com/jhu-saw/sawSocketStreamer

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Digital Twin — 26× in this paper · explained in 4 episodes
• Alignment — 13× in this paper · explained in 1 episode
• Calibration — 9× in this paper · explained in 7 episodes
• Decoupling — 4× in this paper · explained in 2 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Foundation Models — 3× in this paper · explained in 7 episodes
• Robot-Assisted Minimally Invasive Surgery — 2× in this paper
• Benchmark — 1× in this paper · explained in 2 episodes
• Digital TwinDriven Virtual Reality — 1× in this paper
• Fidelity — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Pairwise Comparisons — 1× in this paper · explained in 2 episodes
• Patient Side Manipulator — 1× in this paper
• Remote Center of Motion — 1× in this paper
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• SAM 2: Segment Anything in Images and Videos

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