1. A method for actuating a manipulator system by means of a portable end device, wherein the portable end device includes a camera, the method having the following steps of acquiring an image, by means of the camera in the portable end device, of at least some of the manipulator system; determining a feature of the manipulator system based on the acquired image; identifying at least one actuatable object of the manipulator system based on the determined feature; and actuating the manipulator system.