Catheters with control modes for interchangeable probes

A control system for a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter, and a sensor configured to at least partly measure a pose of the distal tip coupled to the mechanical system, the control system comprising:

• a plurality of modules that control operational aspects of a plurality of modes for controlling the mechanical system based on feedback from the sensor;
• and
• memory storing an indicator identifying parameters of a desired working configuration for the distal tip, wherein each of the modules operates the mechanical system, based on feedback from the sensor and without user input, to compensate for disturbances external to the mechanical system and thereby return the distal tip in the desired working configuration identified by the indicator, and wherein the plurality of modules are configured to:
• steer the catheter to a working site using the mechanical system that is remotely operable to control the distal tip of the catheter;
• identify the desired working configuration of the distal tip, wherein the desired working configuration poses the distal tip for performance of a medical task at the work site;
• and
• select a holding mode from a plurality of modes for controlling the catheter using feedback from the sensor that measures the pose of the distal tip;
• and
• maintain the desired working configuration of the distal tip through operation of the catheter in the selected holding mode, wherein the plurality of modules, in the selected holding mode, are further configured to:
• sense a current pose of the distal tip;
• determine a difference between the current pose and the desired working configuration, wherein the difference is due to an external disturbance;
• and
• without user input, operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.