System and method for adjusting an image capturing device attribute using an unused degree-of-freedom of a master control device

A method for adjusting an attribute of an image capturing device that is robotically manipulatable relative to a first reference frame in a first plurality of degrees-of-freedom, comprising:

• controlling robotic manipulation of the image capturing device in each of the first plurality of degrees-of-freedom according to at least an input received from a first master control device manipulatable in a second reference frame in a second plurality of degrees-of-freedom, wherein the robotic manipulation of the image capturing device uses less than all of the second plurality of degrees-of-freedom;
• initially determining and periodically updating a set-point for an unused one of the second plurality of degrees-of-freedom of the first master control device, wherein the periodic updating is performed by sensing a position of the unused one of the second plurality of degrees-of-freedom of the first master control device, estimating a feedback error resulting from the controlling of the robotic manipulation of the image capturing device wherein the feedback error effects a change in the set-point of the unused one of the second plurality of degrees-of-freedom of the first master control device, and determining the updated set-point using the sensed position and estimated feedback error, and wherein the set-point is a state of the unused one of the second plurality of degrees-of-freedom of the first master control device and the set-point changes as one or more of the used ones of the second plurality of degrees-of-freedom of the first master control device is used;
• and
• adjusting the attribute of the image capturing device in response to manipulation of the first master control device in the unused one of the second plurality of degrees-of-freedom of the first master control device relative to the periodically updated set-point.

A medical robotic system comprising:

• an image capturing device;
• a slave manipulator adapted to manipulate the image capturing device in four degrees-of-freedom;
• first and second master control devices each manipulatable in six degrees-of-freedom about its pivot point and cooperatively manipulatable in six degrees-of-freedom about a mid-point between the pivot points of the first and second master control devices;
• and
• a controller adapted to:
• command manipulation of the image capturing device according to the cooperative manipulation of the first and second master control devices;
• initially determine and periodically update a set-point of an unused one of the six degrees-of-freedom of the first master control device, wherein the periodic updating is performed by sensing a position of the unused one of the six of degrees-of-freedom of the first master control device, estimating a feedback error resulting from controlling the manipulation of the image capturing device wherein the feedback error effects a change in the set-point of the unused one of the six degrees-of-freedom of the first master control device, and determining the updated set-point using the sensed position and estimated feedback error, and wherein the set-point is a state of the unused one of the six degrees-of-freedom of the first master control device and the set-point changes as one or more of the used ones of the six degrees-of-freedom of the first master control device is use;
• and
• adjust an attribute of the image capturing device in response to manipulation of the first master control device in the unused one of the six degrees-of-freedom of the first master control device relative to the periodically updated set-point.