Disturbance compensation in computer-assisted devices

A method of controlling a computer-assisted device, the method comprising:

• detecting, by a control unit, a disturbance to one or more first joints of an articulated arm of the computer-assisted device, the disturbance causing a point of interest associated with an end effector supported by the articulated arm to move;
• determining, by the control unit, a predicted motion of the point of interest based on the detected disturbance;
• and
• driving, by the control unit, one or more second joints of the articulated arm to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.

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:

• detecting a disturbance to one or more first joints of an articulated arm of the computer-assisted device, the disturbance causing a point of interest associated with an end effector supported by the articulated arm to move;
• determining a predicted motion of the point of interest based on the detected disturbance;
• and
• driving one or more second joints of the articulated arm to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.