Method of controlling a surgical robot

A method of controlling movement of the tip of a surgical endoscope from a first position (E) to an intermediate position (E′), the field of view from the tip of the endoscope being at an angle (α) relative to a longitudinal shaft of the endoscope, the method comprising: receiving a command to move from the first position in a first direction; identifying a nominal view point (N) from the tip of the endoscope in the first position; calculating a tip movement path from the first position based on the received command, the identified nominal view point and the angle (α); determining the intermediate position; and moving the tip to the intermediate position, the intermediate position being such that the nominal view point remains within the field of view from the tip.