  The dominant visual servoing approaches in Minimally Invasive Surgery (MIS)
follow single points or adapt the endoscope's field of view based on the
surgical tools' distance. These methods rely on point positions with respect to
the camera frame to infer a control policy. Deviating from the dominant
methods, we formulate a robotic controller that allows for image-based visual
servoing that requires neither explicit tool and camera positions nor any
explicit image depth information. The proposed method relies on
homography-based image registration, which changes the automation paradigm from
point-centric towards surgical-scene-centric approach. It simultaneously
respects a programmable Remote Center of Motion (RCM). Our approach allows a
surgeon to build a graph of desired views, from which, once built, views can be
manually selected and automatically servoed to irrespective of robot-patient
frame transformation changes. We evaluate our method on an abdominal phantom
and provide an open source ROS Moveit integration for use with any serial
manipulator.
