Systems and methods for monitoring patient motion during a medical procedure

A medical system comprising:

• an elongate medical instrument;
• a master assembly configured to receive commands from an operator to manipulate the medical instrument;
• and
• a control system in communication with the master assembly and the medical instrument,
• the control system adapted to perform operations comprising:
• receiving state information;
• detecting motion of at least a portion of the medical instrument with a first motion detection modality and a second motion detection modality;
• comparing the detected motion of the at least the portion of the medical instrument with a threshold motion value that is based on the state information;
• and
• determining, based on the detected motion of the at least the portion of the medical instrument exceeding the threshold motion value, significant movement of a patient has occurred.

A method of monitoring a medical instrument during a medical procedure involving motion of the medical instrument, the method comprising:

• receiving state information from a control system in communication with the medical instrument, wherein the state information includes an indication the medical instrument is in a parked state;
• detecting, by the control system, motion of at least a portion of the medical instrument;
• comparing the detected motion of the at least the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system and an expected natural motion of a patient;
• and
• providing a system response based on the comparison of the detected motion with the threshold motion value.