Fig. 14: Schematic diagram of NDI-based virtual-physical spatial registration experiment. | npj Digital Medicine

Fig. 14: Schematic diagram of NDI-based virtual-physical spatial registration experiment.

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

Fig. 14: Schematic diagram of NDI-based virtual-physical spatial registration experiment.

Physical workspace configuration (Upper): A 15 × 15 cm² two-dimensional grid baseplate with height-adjustable brackets to define spatial boundaries of the operational workspace, featuring fiducial markers (Ptgt) and robotic arms tracking end-effector position (P1) via NDI optical system and rigid reference structure (RFS). Digital twin implementation (Lower): Unity-based virtual environment dynamically maps physical coordinates (P1’) through spatial transformation matrices, with alignment error (δ2 = ‖P1’ – P2’‖) computed between transformed physical positions (P1’) and pre-registered virtual counterparts (P2’).

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