Method for positioning an endoscope with flexible shaft

A method of controlling a field of view of an endoscope comprising:

• determining a pose of the field of view using a first location and a second location, the first location being of a first portion of the endoscope and the second location being of a second portion of the endoscope, wherein the endoscope comprises a flexible portion disposed between the first portion and the second portion, wherein the first and second locations are defined by a configuration, relative to the endoscope, of an endoscope support and a cannula, wherein the endoscope support configured to support the endoscope, and wherein a shaft of the endoscope is configured to extend through the cannula;
• and
• controlling the pose of the field of view by moving at least one of:
• the first portion and the second portion.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more hardware processors are adapted to cause the one or more hardware processors to perform a method of controlling a field of view of an endoscope, the method comprising:

• determining a pose of the field of view using a first location and a second location, the first location being of a first portion of the endoscope and a second location being of a second portion of the endoscope, wherein the endoscope comprises a flexible portion disposed between the first portion and the second portion, wherein the first and second locations are defined by a configuration, relative to the endoscope, of an endoscope support and a cannula, wherein the endoscope support configured to support the endoscope, and wherein a shaft of the endoscope is configured to extend through the cannula;
• and
• controlling the pose of the field of view by moving at least one of:
• the first portion and the second portion.