  We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera
movement for minimally invasive surgery, which, unlike previous methods, takes
into account both the position and orientation information from structures in
the surgical scene. In addition to locating the camera for a good view of the
manipulated object, our autonomous camera takes into account workspace
constraints, including the horizon and safety constraints. We developed a
simulation environment to test our method on the "wire chaser" surgical
training task from validated training curricula in conventional laparoscopy and
robot-assisted surgery. Furthermore, we propose, for the first time, the
application of the proposed autonomous camera method in video-based surgical
skill assessment, an area where videos are typically recorded using fixed
cameras. In a study with N=30 human subjects, we show that video examination of
the autonomous camera view as it tracks the ring motion over the wire leads to
more accurate user error (ring touching the wire) detection than when using a
fixed camera view, or camera movement with a fixed orientation. Our preliminary
work suggests that there are potential benefits to autonomous camera
positioning informed by scene orientation, and this can direct designers of
automated endoscopes and surgical robotic systems, especially when using
chip-on-tip cameras that can be wristed for 6-DoF motion.
