Fig. 11: Tri-layered digital twin framework for real-time physical-virtual synchronization via coordinated operations. | npj Digital Medicine

Fig. 11: Tri-layered digital twin framework for real-time physical-virtual synchronization via coordinated operations.

From: Enhancing telesurgical safety with predictive digital twin synchronization: a framework for latency compensation in robotic surgery

Fig. 11: Tri-layered digital twin framework for real-time physical-virtual synchronization via coordinated operations.

This framework enables real-time data exchange between physical instruments and virtual models. The physical layer (PMAC) acquires system parameters, transmitted via SSH to a Qt-based middleware, then to Unity via TCP for dynamic virtual model updates. Ensures closed-loop synchronization across acquisition, conversion, and adaptive feedback.

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