System and method for controlling a position of an articulated robotic arm

A system for controlling a position of an articulated robotic arm, the system comprising:

• a movable cart comprising:
• a locking mechanism to prevent adjustment of the position of the movable cart in response to an error;
• and
• at least one of a wheel and a caster positioned on a bottom surface of the movable cart, the movable cart including a top portion and a bottom portion, the top portion configured to move relative to the bottom portion in horizontal and transverse directions;
• a robotic catheter procedure system comprising:
• the articulated robotic arm mounted on the movable cart;
• and
• a controller coupled to the movable cart;
• a patient table user interface configured to control movement of a patient table positioned proximate to and separate from the movable cart;
• and
• a tracking system coupled to the controller and configured to measure a change in a position of the patient table;
• a patient table controller coupled to the patient table user interface and the controller, the patient table controller programmed to:
• transmit a control signal to the controller in response to a user input received by the patient table user interface, the user input instructing a change in position of the patient table,
• wherein the controller is configured to automatically adjust a position of the top portion of the movable cart in at least one of a transverse direction or a horizontal direction based on the change in position of the patient table, and to generate a second control signal to activate the locking mechanism based on an error received from the patient table controller, and
• wherein the tracking system is configured to measure a change in position of a fiducial target provided on the patient table, the change in position of the fiducial target being indicative of the change in position of the patient table.