Han Zhang Yiqing Shen 0003 Roger D. Soberanis-Mukul Ankita Ghosh Hao Ding 0021 Lalithkumar Seenivasan Jose L. Porras Zhekai Mao Chenjia Li Wenjie Xiao Lonny Yarmus Angela Christine Argento Masaru Ishii Mathias Unberath TwinOR: photorealistic digital twins of dynamic operating rooms for embodied AI research. 2026 May 969-977 21 Int. J. Comput. Assist. Radiol. Surg. 5 https://doi.org/10.1007/s11548-026-03644-w db/journals/cars/cars21.html#ZhangSSGDSPMLXYAIU26 streams/journals/cars