Tantric Stripfighter Trina (2009)

Blurb:
Tantric Stripfighter Trina fights an evil space federation…by taking off one piece at a time!... Young Trina Devi’s homeworld Rama was destroyed by mercenaries under government orders. Now the last of her kind, Trina is skilled in Rama’s native art of stripfighting: a tantalizing fusion of Shaolin martial arts and tantric sensuality. With her cybernetic sidekick Chrome Abbey and her robot assistant Bonds, Trina quests to take down the men who destroyed her planet, including a sleazy slave trafficker, a martial arts master and a terrifying Inquisitor backed by the intergalactic government, the COG and CROWN.

Source: www.anisearch.com/manga/6198