Adaptive image-based positioning of RCM mechanisms using angle and distance features

David Navarro Alarcon, Hui Man Yip, Zerui Wang, Yun Hui Liu, Weiyang Lin, Peng Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)


In this paper, we address the positioning problem of remote centre of motion (RCM) mechanisms with uncalibrated image feedback from a monocular camera. Nowadays, RCM mechanisms are widely used in minimally invasive robotic surgery due to their ability to distally rotate a tool around a fixed entry port; note that in most surgical applications, the tools are typically controlled by manual/teleoperated motion commands given by a human user. In this paper, we depart from the traditional manual control scheme and derive sensor-based methods to automatically position the manipulated tool using real-time image feedback. To this end, we first characterise the mechanism's 3-DOF configuration with the angle of the image projected tool and scalar distances between feature points. To cope with uncertainty in the camera's calibration parameters, we propose two gradient descent estimators that adaptively compute the unknown Jacobian matrix; the stability of these algorithms is proved with Lyapunov theory. Finally, we derive a kinematic image-based controller and evaluate its performance with several positioning experiments.
Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages7
ISBN (Electronic)9781479999941
Publication statusPublished - 11 Dec 2015
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Congress Center Hamburg (CCH), Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this