Flexible Robotic Systems for Minimally Invasive Surgery

by Ayhan Aktaş
(Material Robotics Laboratory, Boston University)

Date : April 10, 2026 (Friday)
Time : 14:30-15:30
Room: VYKM-2

Abstract:
Minimally invasive surgery relies on long, flexible instruments
operating within soft, deformable anatomy, where limited sensing and
complex tool–tissue interactions pose major challenges to accuracy and
safety. Robotic assistance offers a promising pathway to address these
limitations, but requires new approaches to sensing, modeling, and
control of flexible surgical systems.

This talk presents two robotic systems that address these challenges at
different stages of minimally invasive procedures. First, I will present
my doctoral work on programmable bevel-tip steerable needles for
precision neurosurgery. The system combines catheter miniaturization,
friction-driven actuation, fiber-optic shape sensing, and data-driven
control to enable accurate steering along curvilinear paths in soft
tissue. Second, I will introduce a soft robotic sleeve designed to
assist colonoscopy, which augments conventional endoscopes with
compliant actuation and embedded optical waveguides to estimate shape
and interaction forces in real time. Machine learning models are used to
predict hazardous interactions and modulate tool–tissue forces.

Together, these systems illustrate a robotics framework for flexible
surgical devices that integrates sensing, modeling, and intelligent
control to improve safety, precision, and situational awareness in
minimally invasive surgery.

Short Bio:
Ayhan Aktas is a robotics researcher working at the intersection of
surgical robotics, soft robotics, and sensing technologies. He received
his PhD in Surgical Robotics from Imperial College London, where his
research focused on the design and control of programmable bevel-tip
steerable needles for minimally invasive neurosurgery. Following his
PhD, he held a postdoctoral position in the Material Robotics Laboratory
at Boston University.

His work spans flexible robotic systems, embedded optical sensing,
control, and robotic interaction with soft tissue. His current research
focuses on soft robotic assistance for endoscopic interventions, aiming
to improve procedural safety, navigation, and patient outcomes.