Flexible instrument insertion using an adaptive insertion force threshold

A method operable by a controller of a robotic system, the robotic system comprising a medical instrument and a robotic arm coupled to the instrument, the medical instrument comprising an elongate body, the method comprising:

• receiving instrument data based at least in part on sensor data from a first sensor on the instrument after insertion of the instrument into a patient, the sensor data indicative of a current location of the elongate body;
• accessing patient data associated with a patient, the patient data based at least in part on medical data associated with the patient before the insertion of the instrument into the patient;
• determining an insertion force threshold based on at least one of the instrument data and the patient data;
• receiving an insertion force detected by a second sensor coupled to the robotic arm, the insertion force applied by the arm to the instrument;
• determining that the insertion force exceeds the insertion force threshold;
• determining that the elongate body has buckled based on the determination that the insertion force exceeds the insertion force threshold;
• and
• responsive to the determination that elongate body has buckled, adjusting a command provided to the robotic arm for controlling movement of the elongate body.