System and method for integrated surgical table motion

A method for controlling a computer-assisted device, the method comprising:

• determining, by a control unit comprising one or more hardware processors, a virtual coordinate frame based on a pose of an imaging device before a first joint is set to a floating mode, the imaging device configured to be supported by an articulated arm of the computer-assisted device, the articulated arm comprising a plurality of joints including the first joint and a second joint;
• configuring, by the control unit, the first joint to the floating mode;
• detecting, by the control unit, movement of the first joint;
• determining, by the control unit, movement of a table based on motion data received from the table, the table coupled to the control unit;
• transforming, by the control unit, the determined movement of the table to the virtual coordinate frame;
• and
• driving, by the control unit, the second joint based on the movement of the first joint and the determined movement of the table in the virtual coordinate frame.

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

• determining a virtual coordinate frame based on a pose of an imaging device before a first joint is set to a floating mode, the imaging device configured to be supported by an articulated arm of the computer-assisted device, the articulated arm comprising a plurality of joints including the first joint and a second joint;
• configuring the first joint to the floating mode;
• detecting movement of the first joint;
• determining movement of a table based on motion data received from the table, the table coupled to the one or more hardware processors;
• transforming the determined movement of the table to the virtual coordinate frame;
• and
• driving the second joint based on the movement of the first joint and the determined movement of the table in the virtual coordinate frame.