Automatic push-out to avoid range of motion limits

A teleoperated surgical system comprising:

• a surgical manipulator coupled with a support structure by a set-up linkage, the set-up linkage including a joint having a range of motion between a first physical range of motion limit and a second physical range of motion limit, the set-up linkage being configured to facilitate an alignment of the surgical manipulator with a desired position and orientation relative to the support structure, the set-up linkage further including a drive or brake system operatively coupled to the set-up linkage and configured to limit inadvertent movement of the set-up linkage relative to the support structure when actuated;
• a switch positioned along the manipulator or set-up linkage and configured for operator actuation of the drive or brake system of the set-up linkage to selectively halt or apply a driving or braking by the drive or brake system to allow for manual positioning of the manipulator relative to the support structure through movement of the joint of the set-up linkage;
• and
• a computing unit coupled with the drive or brake system of the set-up linkage, the computing unit configured to detect a position of the joint within the range of motion, the computing unit identifying a first software defined range of motion limit spaced a distance apart from the first physical range of motion limit of the joint and defining a first range of motion limit envelope between the first software defined range of motion limit and the first physical range of motion limit and identifying a second software defined range of motion limit spaced a distance apart from the second physical range of motion limit of the joint and defining a second range of motion limit envelope between the second software defined range of motion limit and the second physical range of motion limit;
• wherein the computing unit is configured to operate the drive or brake system of the set-up linkage to increase a resistance against manual movement of the joint toward the first software defined range of motion limit and the second software defined range of motion limit;
• wherein, when the computing unit detects the joint positioned within the first or second range of motion limit envelopes, the computing unit is configured to delay reapplication of the driving or braking by the drive or brake system of the set-up linkage for at least a threshold duration of time.