A Review of Camera Viewpoint Automation in Robotic and Laparoscopic Surgery

Abstract

Complex teleoperative tasks, such as surgery, generally require human control. However, teleoperating a robot using indirect visual information poses many technical challenges because the user is expected to control the movement(s) of the camera(s) in addition to the robot’s arms and other elements. For humans, camera positioning is difficult, error-prone, and a drain on the user’s available resources and attention. This paper reviews the state of the art of autonomous camera control with a focus on surgical applications. We also propose potential avenues of research in this field that will support the transition from direct slaved control to truly autonomous robotic camera systems.