A Miniature Robotic Surgery Technology Demonstration during Orbital Spaceflight

Authors

Rachael A. Wagner, University of Nebraska-LincolnFollow

First Advisor

Shane M. Farritor

Date of this Version

12-2025

Document Type

Dissertation

Citation

A dissertation presented to the faculty of the Graduate College at the University of Nebraska in partial fulfillment of requirements for the degree of Doctor of Philosophy

Major: Biomedical Engineering

Under the supervision of Professor Shane M. Farritor

Lincoln, Nebraska, December 2025

Includes supplemental materials. Some of the files are very large so you may want to download them zipped

Comments

Copyright 2025, Rachael Wagner. Used by permission

Abstract

This dissertation describes a technology demonstration payload that tested robotic surgery while aboard a 2024 expedition of the International Space Station (ISS).

The payload utilized a new miniature surgical robot to complete simulated surgical tasks while on orbit, both autonomously and while remotely controlled by Earth-based users. The experiment investigated the effects of microgravity and latency on robotic surgery, with the following goals:

1. Demonstrate the use of a miniature surgical robot in microgravity by performing simulated surgical tasks.
2. Quantify the effects of microgravity on robotic surgery including forces, torques, and kinematic accuracy.
3. Evaluate the latency involved in near-Earth orbital teleoperation and its impacts on the surgeon user.
4. Compare microgravity results with terrestrial results to inform robotic approaches for long-duration spaceflight.

The payload was contained within an ISS EXPRESS (EXpedite the PRocessing of Experiments to the Space Station) Rack Locker. It included a surgical robot system, task board, auxiliary camera, control computer, and support electronics. A key element of this project involved collaboration with NASA to integrate the experiment into the broader ISS infrastructure. The completed locker complied with ISS structural, electrical, data handling, thermal, environmental, materials, and human factors requirements. The surgical tasks were first performed on Earth under normogravity and eventually performed on the ISS in microgravity. In this dissertation, the evolution of the payload design is discussed, detailing the construction of multiple mock-ups. A summary of the testing campaign for requirements verification is provided and the phases of on-orbit operations are described. Robot precision and dexterity results are compared across trials. These capabilities are necessary for successful robotic surgeries on Earth and will be essential in space. Finally, potential future applications and recommended techniques for this technology are shared. Interventional surgery will become necessary as humans travel farther and longer in space. This technology demonstration was an important step towards more advanced medical care for long-duration spaceflight.

Advisor: Shane M. Farritor