In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue.
However, scanning of large tissue surfaces in the presence of motion is a challenging task for the surgeon. Hence a robot-assisted local tissue scanning was designed in our work. We designed a new cylindrical marker for pose estimation, which performs well in all directions. Vision information from marker and kinematics information from surgical robotics is used to implement the calibration from PSM (Patient Side Manipulator) base to ECM (Endoscopic Camera Manipulator) base before tissue scanning. A Kalman Filter is applied to fuse vision information and kinematics information, which can improve the accuracy of pose estimation during automatic tissue scanning. We also plan to employ previous calibration result and images generated during the movement for re-calibration after moving the ECM for a better field of view.