Fig. 9: Real-time field-of-view fusion and intraoperative visualization during Renal Hilar Dissection. | npj Digital Medicine

Fig. 9: Real-time field-of-view fusion and intraoperative visualization during Renal Hilar Dissection.

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

Fig. 9: Real-time field-of-view fusion and intraoperative visualization during Renal Hilar Dissection.

Blue dashed box: Anatomical localization of the renal hilum. Black dashed box: Left robotic grasper (physical instrument) lifting tissue, with its digital twin fully overlapping the real instrument due to static state. Yellow dashed box: Virtual tip of the right robotic instrument, dynamically superimposed on the real endoscopic view. The virtual instrument tip remains unobstructed despite physical occlusions, providing continuous spatial guidance critical for safe teleoperation.

Back to article page