构建统一仿真框架，评估腹腔镜机器人中远程运动中心约束的控制效果。
A Unified Benchmark for RCM-Constrained Visual Servoing: Modeling-Controller Interaction and Robustness Analysis in Laparoscopic Robots
- 基于速度层级统一建模三种RCM方法与六种视觉伺服架构。
- 发现切平面定义和闭环控制对系统稳定性有显著影响。
- 适合机器人手术控制算法研究者参考，支持复现与对比实验。
在机器人辅助腹腔镜微创手术中，精确实现远程运动中心（RCM）约束对于安全稳定的视野调整至关重要。尽管基于控制的RCM策略因灵活性和成本效益被广泛采用，但不同RCM表述与基于图像的视觉伺服（IBVS）框架之间的系统性比较仍因缺乏统一且可复现的基准而困难。本文提出一个开源仿真框架，集成三种代表性RCM建模方法与六种基于IBVS的控制架构，均采用统一的速度层级公式，实现受控且一致的评估。通过结构化案例研究，框架揭示了建模与控制器交互带来的关键结构性敏感性，包括切平面定义、约束维度、开环与闭环执行方式的影响，以及在运动学奇点附近的鲁棒性表现。所有资源均已公开，并在附录视频中提供演示，为RCM约束视觉伺服研究提供可复现的基础。
原文摘要 · Abstract (English)
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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