Autonomous Endoscope Control Algorithm with Visibility and Joint Limits Avoidance Constraints for da Vinci Research Kit Robot
Rocco Moccia,Fanny Ficuciello,Rocco Moccia,Fanny Ficuciello
This paper presents a novel autonomous endoscope control method for the dVRK's Endoscopic Camera Manipulator (ECM), which allows the camera to track the surgical instruments on the Patient Side Manipulator (PSM). An Image-based Visual Servoing (IBVS) is enforced by the addition of a visibility constraint that ensures the identified surgical tool remains in the camera's Field Of View (FOV) for the ...
