  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.
