A Unified Benchmark for RCM-Constrained Visual Servoing: Modeling-Controller Interaction and Robustness Analysis in Laparoscopic Robots
In robot-assisted laparoscopic minimally invasive surgery (MIS), accurate enforcement of the remote center of motion (RCM) constraint is critical for safe and stable automatic field-of-view (FoV) adjustment. Although control-based RCM strategies are widely adopted due to their flexibility and cost-effectiveness, systematic comparison of different RCM formulations and image-based visual servoing (IBVS) frameworks remains challenging due to the lack of a unified and reproducible benchmark. This paper presents an open-source simulation framework integrating three representative RCM modeling approaches and six IBVS-based control architectures within a unified velocity-level formulation, enabling controlled and consistent evaluation. Through structured case studies, the framework reveals key structural sensitivities arising from modeling and controller interactions, including the impact of tangent-plane definition, constraint dimensionality, open- versus closed-loop enforcement, and robustness near kinematic singularities. All resources are released and demostrations are provided in the supplementary video, providing a reproducible foundation for RCM-constrained visual servoing research.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Markerless 6D Pose Estimation and Position-Based Visual Servoing for Endoscopic Continuum Manipulators
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compl…
6D Pose EstimationDIViS: Domain Invariant Visual Servoing for Collision-Free Goal Reaching
Robots should understand both semantics and physics to be functional in the real world. While robot platforms provide means for interacting with the physical world they cannot autonomously acquire object-level semantics …
Last-Meter Precision Navigation for UAVs: A Diffusion-Refined Aerial Visual Servoing Approach
In this work, we study the last-meter precision navigation for UAVs, e.g., autonomously reaching a target within the final 10 meters using monocular vision. This task is challenging due to scale ambiguity, rotation disco…
Spatial ReasoningStrain-Parameterized Coupled Dynamics and Dual-Camera Visual Servoing for Aerial Continuum Manipulators
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches…
DFVS: Deep Flow Guided Scene Agnostic Image Based Visual Servoing
Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a nove…
Optical Flow Estimation