{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,13]],"date-time":"2026-07-13T09:04:39Z","timestamp":1783933479289,"version":"3.55.0"},"reference-count":56,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2026,7,11]],"date-time":"2026-07-11T00:00:00Z","timestamp":1783728000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"\u201cRomanian Hub for Artificial Intelligence\u2014HRIA\u201d","award":["334906"],"award-info":[{"award-number":["334906"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The rapid advancement of robot-assisted minimally invasive surgery (RAMIS) has created an increasing demand for integrated solutions that combine advanced robotic actuation, sensing, and intelligent control within unified training and operational frameworks. This paper presents a Digital Twin\u2013based virtual reality (VR) interaction and control system developed for an innovative parallel surgical robot, designed to support both surgical training and real-time robot interaction. The proposed framework extends a conventional VR simulator into a bidirectional Digital Twin architecture, enabling real-time synchronization between a virtual environment and the physical robotic system. The system integrates the ATHENA parallel robot, characterized by a 4-degree-of-freedom architecture with a Remote Center of Motion (RCM) constraint, together with a flexible laparoscopic instrument providing enhanced dexterity. Interaction is achieved using VR controllers, allowing intuitive manipulation of the robotic system within an immersive environment. To enhance operational performance, an artificial intelligence module based on neural networks is integrated as an assistive component, providing real-time trajectory refinement and motion guidance. The trained model is deployed using an ONNX-compatible runtime, ensuring efficient inference and seamless integration within the control architecture. The proposed system is validated through experimental evaluation of user interaction and task execution performance, as well as through external motion assessment using an OptiTrack optical tracking system. The results demonstrate improvements in motion stability, execution efficiency, and user interaction quality, while maintaining a high level of control intuitiveness. The findings highlight the potential of Digital Twin\u2013based VR systems as a unifying platform for surgical training, interaction, and intelligent assistance in next-generation medical robotic systems.<\/jats:p>","DOI":"10.3390\/s26144410","type":"journal-article","created":{"date-parts":[[2026,7,13]],"date-time":"2026-07-13T08:05:31Z","timestamp":1783929931000},"page":"4410","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Digital Twin-Based Virtual Reality Framework for Interaction and AI-Assisted Control of a Parallel Surgical Robot"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0079-431X","authenticated-orcid":false,"given":"Florin","family":"Covaciu","sequence":"first","affiliation":[{"name":"Research Center for Industrial Robots Simulation and Testing\u2014CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nadim Al","family":"Hajjar","sequence":"additional","affiliation":[{"name":"Department of Surgery, \u201cIuliu Hatieganu\u201d University of Medicine and Pharmacy, 400347 Cluj-Napoca, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9853-7102","authenticated-orcid":false,"given":"Anca-Elena","family":"Iordan","sequence":"additional","affiliation":[{"name":"European University of Technology, European Union"},{"name":"Department of Computer Science, Technical University of Cluj-Napoca, 400027 Cluj-Napoca, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Radu","family":"Corina","sequence":"additional","affiliation":[{"name":"Department of Internal Medicine, \u201cIuliu Hatieganu\u201d University of Medicine and Pharmacy, 400347 Cluj-Napoca, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4427-6231","authenticated-orcid":false,"given":"Bogdan","family":"Gherman","sequence":"additional","affiliation":[{"name":"Research Center for Industrial Robots Simulation and Testing\u2014CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrei","family":"Cailean","sequence":"additional","affiliation":[{"name":"Research Center for Industrial Robots Simulation and Testing\u2014CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0126-6428","authenticated-orcid":false,"given":"Andra","family":"Ciocan","sequence":"additional","affiliation":[{"name":"Department of Surgery, \u201cIuliu Hatieganu\u201d University of Medicine and Pharmacy, 400347 Cluj-Napoca, Romania"},{"name":"Department of Internal Medicine, \u201cIuliu Hatieganu\u201d University of Medicine and Pharmacy, 400347 Cluj-Napoca, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5804-575X","authenticated-orcid":false,"given":"Alexandru","family":"Pusca","sequence":"additional","affiliation":[{"name":"Research Center for Industrial Robots Simulation and Testing\u2014CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5660-8259","authenticated-orcid":false,"given":"Paul","family":"Tucan","sequence":"additional","affiliation":[{"name":"Research Center for Industrial Robots Simulation and Testing\u2014CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7014-9431","authenticated-orcid":false,"given":"Doina","family":"Pisla","sequence":"additional","affiliation":[{"name":"Research Center for Industrial Robots Simulation and Testing\u2014CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania"},{"name":"European University of Technology, European Union"},{"name":"Technical Sciences Academy of Romania, B-dul Dacia, 26, 030167 Bucharest, Romania"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,7,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2586034","DOI":"10.1155\/2019\/2586034","article-title":"Advancing Simulation-Based Orthopaedic Surgical Skills Training: An Analysis of the Challenges to Implementation","volume":"2019","author":"Atesok","year":"2019","journal-title":"Adv. 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