Systems, methods, and computer-readable media are provided for controlling a robotically delivered manipulator. One system includes a robotic manipulator having a base and a surgical instrument holder configured to move relative to the base, a surgical instrument removably coupled to the surgical instrument holder, a user interface configured to present information related to least one of the robotic manipulator or the surgical instrument, a gesture detection sensor configured to detect a gesture made by a user representing a desired movement of the robotic manipulator, and a controller configured to actuate the robotic manipulator in a predetermined manner corresponding to the detected gesture.
