# OCT-Guided Soft Tissue Geometric Modeling: 3D Representations for Data-Driven Closed-Loop Shape Control

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/pgh7hgbvincb4yat3uivkptv7
- Original: https://arxiv.org/abs/2610.32961

## Summary

The study proposes an OCT-guided data-driven framework that learns soft tissue shape control from user demonstrations and executes it with closed-loop OCT feedback. In 12 configurations and 576 phantom trials, the Explicit policy using residual-conditioned voxel point clouds achieved Shape RMSE of 0.534 mm on the depth task and 0.443 mm on the directional task; full-volume Diffusion with residual conditioning reduced directional error from 0.748 mm to 0.555 mm.