# Autonomous Field-of-View Adjustment Using Adaptive Kinematic Constrained Control with Robot-Held Microscopic Camera Feedback

arXiv: https://arxiv.org/abs/2309.10287 · HTML: https://mlsanity.com/paper/2309.10287/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Sep 2023.

## Built on by (most cited first, 1 of 1)

- [AutoCam: Hierarchical Path Planning for an Autonomous Auxiliary Camera in Surgical Robotics](https://mlsanity.com/paper/2505.10398/) (2025)

## Abstract (arXiv)

Robotic systems for manipulation in millimeter scale often use a camera with high magnification for visual feedback of the target region. However, the limited field-of-view (FoV) of the microscopic camera necessitates camera motion to capture a broader workspace environment. In this work, we propose an autonomous robotic control method to constrain a robot-held camera within a designated FoV. Furthermore, we model the camera extrinsics as part of the kinematic model and use camera measurements coupled with a U-Net based tool tracking to adapt the complete robotic model during task execution. As a proof-of-concept demonstration, the proposed framework was evaluated in a bi-manual setup, where the microscopic camera was controlled to view a tool moving in a pre-defined trajectory. The proposed method allowed the camera to stay 94.1% of the time within the real FoV, compared to 54.4% without the proposed adaptive control.