System and method for monitoring control points during reactive motion

A method comprising:

• determining, by a control unit, a first expected path, the first expected path being representative of expected positions of a first control point over time when movement of the first control point is caused by movement of a table that moves a first articulated arm of a computer-assisted device, the first control point being associated with the first articulated arm, the table being separate from the computer-assisted device;
• determining, by the control unit, a first actual path, the first actual path representative of actual positions of the first control point over time when movement of the first control point is caused by the movement of the table;
• determining, by the control unit, whether to perform a first remedial action based on the first actual path and the first expected path;
• and
• in response to a determination to perform the first remedial action, performing, by the control unit, the first remedial action.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted device are adapted to cause the one or more processors to perform a method comprising:

• determining a first expected path, the first expected path representative of expected positions of a first control point over time when movement of the first control point is caused by movement of a table that moves a first articulated arm of the computer-assisted device, the first control point being associated with the first articulated arm, the table being separate from the computer-assisted device;
• determining a first actual path, the first actual path representative of actual positions of the first control point over time when movement of the first control point is caused by the movement of the table;
• determining whether to perform a first remedial action based on the first actual path and the first expected path;
• and
• in response to a determination to perform the first remedial action, performing the first remedial action.