CPC B25J 9/1641 (2013.01) [A61B 34/30 (2016.02); B25J 9/06 (2013.01); B25J 9/1607 (2013.01); B25J 9/1653 (2013.01); B25J 9/1682 (2013.01); B25J 19/0004 (2013.01); B25J 19/021 (2013.01); A61B 34/35 (2016.02); A61B 90/361 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/305 (2016.02); A61B 2090/373 (2016.02); A61B 2090/508 (2016.02); Y10S 901/02 (2013.01)] | 20 Claims |
1. A computer-assisted device comprising:
a first articulated arm configured to support an imaging device;
a second articulated arm configured to support an end effector; and
a control unit coupled to the first articulated arm and the second articulated arm, wherein the control unit is configured to:
set a first coordinate reference frame, the first coordinate reference frame being based on a first position of the imaging device at a first time,
detect a first disturbance to the first articulated arm moving the imaging device away from the first position,
receive a first move command to move the end effector, wherein the first move command is defined relative to the first coordinate reference frame, and
convert the first move command into a second move command that is defined relative to a second coordinate reference frame of the end effector.
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