Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure

A non-transitory computer readable medium comprising instructions that, when executed by a processor of a surgical robotic system, cause the processor to:

• receive operator input of a desired offset between a center of a field of view of a camera and a reference point of at least one tool of the surgical robotic system being configured to perform a medical procedure;
• receive an alignment signal being configured to cause movement of the camera of the surgical robotic system based on a location information of the at least one tool of the surgical robotic system being configured to perform a medical procedure;
• and
• in response to receiving the alignment signal:
• receive the location information of the at least one tool, the location information defining a location of the at least one tool with respect to a body cavity frame of reference;
• and
• cause movement of the camera within the body cavity frame of reference to position the center of the field of view of the camera to be offset from the reference point of the at least one tool by the desired offset within captured images such that the camera captures images of the at least one tool to be displayed to an operator of the surgical robotic system during the medical procedure.