CPC A61B 34/30 (2016.02) [A61G 13/02 (2013.01)] | 20 Claims |
1. A computer-assisted device comprising:
a first articulated arm, the first articulated arm being configured to support an end effector; and
a control unit coupled to the first articulated arm;
wherein the control unit is configured to:
determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device;
receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and
drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.
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