STRUCTURAL ADJUSTMENT SYSTEMS AND METHODS FOR A TELEOPERATIONAL MEDICAL SYSTEM
A system comprises a manipulator assembly, one or more sensing elements configured to sense an arrangement of the assembly, and a control system configured to: determine a motion limit of the manipulator assembly based on the sensed arrangement of the assembly by using a position of a joint of a plurality of joints or using a position of a link of a plurality of links; store a plurality of threshold limits, where each of the plurality of threshold limits is associated with a procedure type and defines a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure of the associated procedure type; select a threshold limit of the plurality of threshold limits based on which procedure type is to be performed; and provide a notification indicative of whether the selected threshold limit is outside a range of motion bounded by the motion limit.