We are designing and evaluating control strategies that enable surgeons to intuitively hand-guide an endoscope attached to a redundant lightweight robot. The strategies focus on safety aspects as well as intuitive and smooth control for moving the endoscope. Two scenarios are addressed. The first being a compliant hand-guidance of the endoscope and the second moving the robot's elbow on its redundancy circle to move the robot out of the surgeon's way without changing the view. To prevent

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... ons with the patient and the environment, the robot needs to move respecting Cartesian constraints.