Surgical robotic system having grip-dependent control

A surgical robotic system, comprising:

• a surgical tool mounted on a surgical robotic arm;
• a user interface device;
• and
• one or more processors configured to:
• determine a grip configuration of a user's hand on the user interface device,
• determine, based on the grip configuration, a center of rotation of the user interface device, and
• generate, based on the center of rotation of the user interface device, control commands to actuate one or more of the surgical tool or the user interface device.

A non-transitory computer-readable medium storing instructions, which when executed by one or more processors of a surgical robotic system, cause the surgical robotic system to perform a method comprising:

• detecting, by one or more proximity sensors, positions of one or more fingers of a user's hand on a user interface device;
• determining, based on the positions of the one or more fingers, a center of rotation of the user interface device;
• and
• generating, based on the center of rotation of the user interface device, control commands to actuate a component of the surgical robotic system.