System and method for view restoration

A method comprising:

• recording, using a controller, kinematic information, imaging information, or both the kinematic information and the imaging information of a computer-assisted device before movement of an imaging device from being mounted to a first repositionable arm to being mounted to a second repositionable arm or from being inserted through a first workspace port to access a workspace to being inserted through a second workspace port to access the workspace;
• detecting, by the controller, that the imaging device has moved from being mounted to the first repositionable arm to being mounted to the second repositionable arm or from being inserted through the first workspace port to access the workspace to being inserted through the second workspace port to access the workspace;
• determining, by the controller in response to the detecting, a desired position and orientation of the imaging device based on the recorded kinematic information, the recorded imaging information, or both the recorded kinematic information and the recorded imaging information;
• and
• moving, by the controller, the imaging device based on the desired position and orientation.

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

• recording kinematic information, imaging information, or both the kinematic information and the imaging information of the computer-assisted device before movement of an imaging device from being mounted to a first repositionable arm to being mounted to a second repositionable arm or from being inserted through a first workspace port to access a workspace to being inserted through a second workspace port to access the workspace;
• detecting that the imaging device has moved from being mounted to the first repositionable arm to being mounted to the second repositionable arm or from being inserted through the first workspace port to access the workspace to being inserted through the second workspace port to access the workspace;
• determining, in response to the detecting, a desired position and orientation of the imaging device based on the recorded kinematic information, the recorded imaging information, or both the recorded kinematic information and the recorded imaging information;
• and
• moving the imaging device based on the desired position and orientation.