Systems and techniques for providing multiple perspectives during medical procedures

A system, comprising:

• a first robotic arm configured to be coupled to a first cannula positioned in a first anatomical location of a patient and drive an articulatable camera, the articulatable camera configured to be driven in a first number of degrees-of-freedom (DoFs);
• a second robotic arm configured to be coupled to a second cannula positioned in a second anatomical location of the patient and drive a first tool;
• a user input device configured to be manipulated by a user in a second number of DoFs;
• one or more processors;
• and
• memory storing computer-executable instructions to cause the one or more processors to:
• receive an image from the articulatable camera including a view of a target site in the patient,
• receive, via the user input device, a user command to drive the articulatable camera, and
• determine instructions to robotically drive the articulatable camera via the first robotic arm based on the user command, wherein at least one of the DoFs of the user input device is constrained so as to maintain orientation alignment between the first tool and the user input device.