# ThERMO Thermal Imaging Speed Optimization Algorithm Improves UR10e Robot Autonomous Tumor Resection Accuracy

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/q9ul8lzowrhgvc1h99dyie942
- Original: https://arxiv.org/abs/2610.27562

## Summary

The ThERMO closed-loop thermal feedback algorithm completed autonomous electrosurgical tests on ex vivo porcine tissue using the UR10e-based ASTR system, reducing thermal injury by up to 52% and improving margin accuracy by up to 59%, without requiring data-driven training or iterative tuning. The algorithm adjusts cutting speed via real-time thermal imaging; histological analysis and 3D photogrammetry verified thermal injury extent and margin accuracy, outperforming two fixed-speed control methods.