Activ Surgical has raised nearly $13 million as the company continues development of its Smart Tissue Autonomous Robot (STAR).

The Boston-based company has been seeking nearly $19 million in the money-raise, according to a Form D filed with the U.S. Securities and Exchange Commission on July 1.

Founded in 2017, Activ’s initial technology is STAR. Developed out of Children’s National Medical Center in Washington, D.C., the robot uses near-infrared fluorescent (NIRF) markers to provide a biocompatible, near-infrared 3D tracking system. The result, according to the robot’s developers, is accurate 3D tracking of tissue and surgical tools — an improvement over standard optical tracking technology.

Activ Surgical describes its overall goal as the “integration of advanced computer vision, artificial intelligence and robotics designed to seamlessly fit within operating room workflow while providing advanced imaging and diagnostic accuracy during surgery.” Robots could autonomously engage in soft tissue surgery under the supervision of a surgeon.

Activ Surgical announced in March that it had tapped Todd Usen, the former president of Olympus Medical Systems, as its first CEO.