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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, which significantly outperforms a state-of-the-art HoloLens 2 mixed reality baseline.
Overcome the dVRK-Si's substantial gravity loading and improve control by 84% using a new dynamic modeling framework and parameter identification method.
