Wide-field OCT Guided Robotic Laser Ablation for Intelligent Minimally Invasive Theranostics

Tumors severely impact human health and quality of life. Intraoperative imaging, diagnosis, and treatment are often challenging and separated. Intelligent theranostic systems offer promising solutions for precise tumor real-time imaging and treatment. We present a Robotic-assisted Intelligent Optical Theranostics (RaIOT) platform, a real-time theranostic system that integrates wide-field optical coherence tomography and laser ablation for automated, precise tumor treatment. The system utilizes a 6-degree-of-freedom robotic arm to perform automated wide-field Optical Coherence Tomography (OCT) scanning, and automatically guides laser ablation. A deep learning model segments tumor tissues from the volumetric OCT data in real-time. Coordinate transformations based on robot-mediated calibration ensure high spatial registration accuracy between the imaging and treatment modules. Following segmentation, the system autonomously plans and executes an optimized laser ablation path to fully cover the target region. Experimental results on biological samples validate the system's spatially controlled resection and reliability. The results confirm that the RaIOT system achieves precise image-guided ablation, showcasing significant potential for intelligent robotic systems in clinical applications.