Adaptive FOV Control of Laparoscopes with Programmable Composed Constraints

Bohan Yang, Wei Chen, Zerui Wang, Yiang Lu, Jiayue Mao, Hesheng Wang, Yun-Hui Liu

IEEE Transactions on Medical Robotics and Bionics, 2019

Adaptive FOV Control of Laparoscopes with Programmable Composed Constraints — Overview of adaptive field-of-view control for robotic laparoscopy.

Abstract

This paper presents an adaptive field-of-view (FOV) control framework for robotic laparoscopic systems based on programmable composed constraints. The proposed approach integrates region-based image-based visual servoing (IBVS) with remote center of motion (RCM) and intuitive virtual plane (IVP) constraints, leading to improved visual stability, safety, and eye–hand coordination in minimally invasive surgery.

Method Overview

The proposed controller decouples the image-based visual servoing task and constraint enforcement using a null-space formulation, allowing extension to laparoscopes with different optical axis configurations.

Video Demonstration

Demonstration of automatic laparoscope manipulation with adaptive FOV control under RCM–IVP constraints.

Main Contributions

Adaptive region-based IBVS for robotic laparoscope FOV control
Programmable composed constraints integrating RCM and IVP
Online estimation of depth-related parameters
Extensive experimental validation and user studies

Citation

@article{yang2019adaptive,
  title     = {Adaptive FOV Control of Laparoscopes with Programmable Composed Constraints},
  author    = {Yang, Bohan and Chen, Wei and Wang, Zerui and Lu, Yiang and
               Mao, Jiayue and Wang, Hesheng and Liu, Yun-Hui},
  journal   = {IEEE Transactions on Medical Robotics and Bionics},
  volume    = {1},
  number    = {4},
  pages     = {206--217},
  year      = {2019},
  publisher = {IEEE}
}