A Unified Benchmark for RCM-Constrained Visual Servoing: Modeling-Controller Interaction and Robustness Analysis in Laparoscopic Robots

• URL: http://arxiv.org/abs/2607.00030v1
• Date: Mon, 22 Jun 2026 04:56:38 GMT
• Title: A Unified Benchmark for RCM-Constrained Visual Servoing: Modeling-Controller Interaction and Robustness Analysis in Laparoscopic Robots
• Abstract summary: 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.<n>This paper presents an open-source simulation framework integrating three representative RCM modeling approaches and six IBVS-based control architectures.
• Score: 8.534283053772247
• License: http://creativecommons.org/licenses/by/4.0/
• 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.

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