Computer-assisted tele-operated surgery systems and methods

A method comprising:

• determining, by a controller of a computer-assisted system, a first location of a remote center of motion of the computer-assisted system, the computer-assisted system comprising a manipulator assembly configured to couple to a cannula, the cannula having a lumen configured to receive a shaft of an instrument;
• and
• repositioning, by the controller and in response to an indication to reposition the remote center of motion relative to the cannula, the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula, the second location being different from the first location.

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 system comprising a manipulator assembly configured to couple to a cannula having a lumen configured to receive a shaft of an instrument, are adapted to cause the one or more processors to perform a method comprising:

• determining a first location of a remote center of motion of the computer-assisted system;
• and
• in response to an indication to reposition the remote center of motion relative to the cannula, repositioning the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula, the second location being different from the first location.