Grounded virtual portal for robotic medical system

A method, comprising:

• providing an input controller coupled, via a plurality of linkages, to a first structure that is mechanically coupled to a base structure, the input controller configured to control an object of a medical environment;
• providing a head mounted display coupled to a second structure that extends from the base structure, the head mounted display configured to render an extended reality environment corresponding to the medical environment;
• establish, by one or more processors coupled with memory, a grounded reference frame for the input controller to be maintained in the extended reality environment rendered via the head mounted display;
• and
• configuring, by the one or more processors, based on a representation of the plurality of linkages in relation to the grounded reference frame, a force scaler function for bidirectional force delivery between the input controller and the object of the medical environment.

A non-transitory computer-readable medium storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to:

• establish a grounded reference frame for an input controller to be maintained in an extended reality environment rendered via a head mounted display, wherein:
• the input controller is coupled, via a plurality of linkages, to a first structure that is mechanically coupled to a base structure,
• the input controller is configured to control an object of a medical environment,
• the head mounted display is coupled to a second structure that extends from the base structure,
• the head mounted display is configured to render the extended reality environment corresponding to the medical environment;
• and
• configure, based on a representation of the plurality of linkages in relation to the grounded reference frame, a force scaler function for bidirectional force delivery between the input controller and the object of the medical environment.