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Three-year-olds Bernardo and Arthur Lima underwent surgeries in Rio de Janeiro, with direction from Great Ormond Street Hospital in London.
The teams spent months trialling techniques using virtual reality projections of the twins, based on CT and MRI scans.
It was described by surgeon Noor ul Owase Jeelani as "space-age stuff".
It was one of the most complex separation processes ever completed, according to the charity which funded it - Gemini Untwined - which Mr Jeelani founded in 2018.
He said that, for the first time, surgeons in separate countries wore headsets and operated in the same "virtual reality room" together.
The twins had seven surgeries, involving more than 27 hours of operating time in the final operation alone, and almost 100 medical staff.