Inter-operative switching of tools in a robotic surgical system

A method of controlling a system, the method comprising:

• detecting, by a controller of the system, mounting of a first imaging device to a first manipulator of the system, the first imaging device having a first reference frame;
• in response to detecting the mounting of the first imaging device, controlling, by the controller, a tool relative to the first reference frame using a second manipulator of the system, the tool being mounted to the second manipulator;
• detecting, by the controller, mounting of a second imaging device to a third manipulator of the system, the second imaging device having a second reference frame;
• and
• in response to detecting the mounting of the second imaging device, controlling, by the controller, the tool relative to the second reference frame using the second manipulator.

A non-transitory computer-readable medium comprising a plurality of instructions which when executed by one or more processors associated with a system are adapted to cause the one or more processors to perform a method comprising:

• detecting mounting of a first imaging device to a first manipulator of the system, the first imaging device having a first reference frame;
• in response to detecting the mounting of the first imaging device, controlling a tool relative to the first reference frame using a second manipulator of the system, the tool being mounted to the second manipulator;
• detecting mounting of a second imaging device to a third manipulator of the system, the second imaging device having a second reference frame;
• and
• in response to detecting the mounting of the second imaging device, controlling the tool relative to the second reference frame using the second manipulator.