Assisted positioning of a repositionable structure

A method comprising:

• receiving, by a control system, a first indication to enter a first mode with respect to a computer-assisted system, the computer-assisted system comprising:
• a base having a base frame;
• a proximal repositionable structure supported by the base;
• a distal repositionable structure having a proximal portion and a distal portion,
• wherein the proximal portion is supported by the proximal repositionable structure;
• an actuator system configured to move the base, the proximal repositionable structure, and the distal repositionable structure, the control system being communicatively coupled to the actuator system;
• and
• in response to receiving the first indication and failing to receive a second indication not to enter the first mode, entering, by the control system, the first mode and, while in the first mode:
• facilitating, by the control system, external repositioning of the distal portion that moves a control feature relative to the base frame, wherein the control feature is fixed relative to the distal portion,
• detecting, by the control system, a first repositioning of the distal portion that moves the control feature relative to the base frame,
• determining, by the control system and in response to detecting the first repositioning and based on a first geometric parameter characterizing the control feature after the first repositioning, a first base movement of the base relative to a world frame and a first structure movement of the proximal repositionable structure relative to the base frame, wherein performing the first base movement and the first structure movement together moves a reference feature relative to the control feature, and wherein the reference feature is fixed relative to a portion of the proximal repositionable structure, and
• commanding, by the control system, the actuator system to move the computer-assisted system based on the first base movement and the first structure movement.

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

• receiving a first indication to enter a first mode with respect to a computer-assisted system, the computer-assisted system comprising:
• a base having a base frame;
• a proximal repositionable structure supported by the base;
• a distal repositionable structure having a proximal portion and a distal portion, wherein the proximal portion is supported by the proximal repositionable structure;
• an actuator system configured to move the base, the proximal repositionable structure, and the distal repositionable structure, the control system being communicatively coupled to the actuator system;
• and
• in response to receiving the first indication and failing to receive a second indication not to enter the first mode, entering the first mode and, while in the first mode:
• facilitating external repositioning of the distal portion that moves a control feature relative to the base frame, wherein the control feature is fixed relative to the distal portion,
• detecting a first repositioning of the distal portion that moves the control feature relative to the base frame,
• determining, in response to detecting the first repositioning and based on a first geometric parameter characterizing the control feature after the first repositioning, a first base movement of the base relative to a world frame and a first structure movement of the proximal repositionable structure relative to the base frame, wherein performing the first base movement and the first structure movement together moves a reference feature relative to the control feature, and wherein the reference feature is fixed relative to a portion of the proximal repositionable structure, and
• commanding the actuator system to move the computer-assisted system based on the first base movement and the first structure movement.