A Unified Benchmark for RCM-Constrained Visual Servoing: Modeling-Controller Interaction and Robustness Analysis in Laparoscopic Robots
This paper presents an open-source simulation framework for systematic comparison of remote center of motion (RCM) modeling approaches and image-based visual servoing (IBVS) control architectures in laparoscopic robots. The framework integrates three RCM models and six IBVS architectures, revealing key structural sensitivities through case studies, including the impact of tangent-plane definition, constraint dimensionality, open- vs closed-loop enforcement, and robustness near kinematic singularities. All resources are released to support reproducible research.
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[Submitted on 22 Jun 2026]
Title:A Unified Benchmark for RCM-Constrained Visual Servoing: Modeling-Controller Interaction and Robustness Analysis in Laparoscopic Robots
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Abstract: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.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.00030 [cs.RO]
(or arXiv:2607.00030v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.00030
arXiv-issued DOI via DataCite
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From: Jing Zhang [view email] [v1] Mon, 22 Jun 2026 04:56:38 UTC (2,225 KB)
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