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Herein, a data\u2010driven control method that uses a continuum laparoscope to adjust the FOV by tracking the surgical instruments is presented. A Koopman\u2010based system identification method is first applied to linearize the nonlinear system. Shifted Chebyshev polynomials are used to construct observation functions that transfer low\u2010dimension observations to high\u2010dimension ones. The Koopman operator is approximated using a finite\u2010dimensional estimation method. An optimal controller is further developed according to the trained linear dynamic model. Furthermore, a learning\u2010based pose estimation framework is designed to detect keypoints on surgical instruments and provides visual feedback for the control system. Compared with other detection methods, the proposed scheme achieves a higher detection precision and provides more optional keypoints for tracking. Simulation and experiments validate the feasibility of the proposed control method. Experimental results show that the proposed method can automatically adjust the field of continuum laparoscope by tracking surgical instruments in real time and satisfy the clinical requirements.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200188","type":"journal-article","created":{"date-parts":[[2022,12,23]],"date-time":"2022-12-23T22:29:16Z","timestamp":1671834556000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Automatic Tracking of Surgical Instruments with a Continuum Laparoscope Using Data\u2010Driven Control in Robotic Surgery"],"prefix":"10.1002","volume":"5","author":[{"given":"Xiaowen","family":"Kong","sequence":"first","affiliation":[{"name":"Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei 230026 China"},{"name":"Department of Biomedical Engineering City University of Hong Kong  Hong Kong SAR 999077 China"}]},{"given":"Hangjie","family":"Mo","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering City University of Hong Kong  Hong Kong SAR 999077 China"}]},{"given":"Erbao","family":"Dong","sequence":"additional","affiliation":[{"name":"Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China  Hefei 230026 China"}]},{"given":"Yunhui","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Hong Kong SAR 999077 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3945-4037","authenticated-orcid":false,"given":"Dong","family":"Sun","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering City University of Hong Kong  Hong Kong SAR 999077 China"}]}],"member":"311","published-online":{"date-parts":[[2022,12,23]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.201900138"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2021.3097631"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3143305"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-021-02438-6"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abi8017"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2019.2949881"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3070553"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3094475"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3056335"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100165"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2900001"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3055339"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3038693"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3010213"},{"key":"e_1_2_10_17_1","doi-asserted-by":"crossref","unstructured":"S.Huang D.Meng X.Wang B.Liang W.Lu inProc. 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