ArticleJournal of biomedical optics2026
Force-regulated robotic diffuse reflectance spectroscopy scanning.
Article in Journal of biomedical optics, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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7 authors.
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Abstract
Significance: Intraoperative discrimination between malignant and benign tissue is essential for achieving complete tumor resection while preserving healthy structures. Robotic diffuse reflectance spectroscopy (DRS) enables automated intraoperative tissue assessment, but unregulated probe-tissue contact forces introduce spectral artifacts and risk tissue damage, limiting clinical translation. Aim: We present and evaluate an autonomous robotic DRS scanning system incorporating real-time contact force regulation to enable safe, repeatable, and large-area Approach: A serial robot manipulator equipped with a fiber-optic DRS probe, load cell, and camera employed hybrid visual servoing and force feedback control, maintaining 0.08 N target force with Results: The system achieved 100% and 93% scan completion rates on bovine and ovine tissues, respectively, without visible tissue damage. Autonomous operation enabled 46 continuous trials over Conclusions: Force-regulated robotic DRS enables standardized, autonomous tissue scanning with expert-level spectral consistency, advancing spectroscopic sensing toward reliable automated surgical margin assessment.
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