The invention provides surgical or diagnostic tools and associated methods that offer improved user control for operating remotely within regions of the body. Also included is a method comprising receiving, by a first network node, a binding update message, wherein the first network node is in a first network, and wherein the first network node is configured to act as a HA for a MN; and sending, by the first network node, a binding acknowledgement, wherein the binding update message comprises a multicast state of the MN. The techniques include predicting the position of the sun during a time period, and sampling an output parameter of the array indicative of performance.