Structural adjustment systems and methods for a teleoperational medical system

A method of setting up a medical system, comprising:

• sensing an arrangement of a manipulator assembly configured to assist in medical procedures by:
• sensing an arrangement of an arm having a plurality of links coupled by a plurality of joints,
• determining a motion limit of the manipulator assembly based on the sensed arrangement of the manipulator assembly by:
• using at least a position of a joint of the plurality of joints or of a link of the plurality of links,
• selecting a threshold limit from a plurality of pre-stored threshold limits based on which medical procedure type is to be performed, the selected threshold limit being associated with a medical procedure type and defining a limit of a range to be potentially travelled by the manipulator assembly to suitably perform a procedure of the associated medical procedure type,
• comparing the motion limit to the selected threshold limit, and
• providing a notification indicative of whether the selected threshold limit is outside a range of motion bounded by the motion limit.