Disturbance compensation in computer-assisted devices

A method for controlling a teleoperated device, the method comprising:

• detecting, by a control unit comprising one or more hardware processors, a first disturbance to a first articulated arm of the teleoperated device occurring at a first time, the first disturbance moving an imaging device mounted to the first articulated arm away from a first orientation of the imaging device toward a second orientation of the imaging device, the first articulated arm comprising:
• a first plurality of joints, a first plurality of links coupled by the first plurality of joints, and a first plurality of actuators coupled to drive motion of the first articulated arm;
• and
• after the first time:
• receiving, by the control unit, a first indication of a first user input to move an end effector supported by a second articulated arm of the teleoperated device while the imaging device is not at the first orientation, the second articulated arm comprising:
• a second plurality of joints, a second plurality of links coupled by the second plurality of joints, and a second plurality of actuators coupled to drive motion of the second articulated arm;
• determining, by the control unit based on the first indication, a first command for moving the end effector as if the imaging device has the first orientation;
• and
• commanding, by the control unit, the second plurality of actuators to move the end effector according to the first command.

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

• detecting a first disturbance to a first articulated arm of the teleoperated device occurring at a first time, the first disturbance moving an imaging device mounted to the first articulated arm away from a first orientation of the imaging device toward a second orientation of the imaging device, the first articulated arm comprising:
• a first plurality of joints, a first plurality of links coupled by the first plurality of joints, and a first plurality of actuators coupled to drive motion of the first articulated arm;
• and
• after the first time:
• receiving, by the control unit, a first indication of a first user input to move an end effector supported by a second articulated arm of the teleoperated device while the imaging device is not at the first orientation, the second articulated arm comprising:
• a second plurality of joints, a second plurality of links coupled by the second plurality of joints, and a second plurality of actuators coupled to drive motion of the second articulated arm;
• determining, by the control unit based on the first indication, a first command for moving the end effector as if the imaging device has the first orientation;
• and
• commanding, by the control unit, the second plurality of actuators to move the end effector according to the first command.