Guided tool change

A method for operating a medical system, comprising:

• determining a kinematic configuration, the kinematic configuration being of a manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool inserted at an insertion location;
• determining a reference geometry of the previous tool in the kinematic configuration;
• detecting a removal of the previous tool from the manipulator arm;
• detecting an installation of a replacement tool on the manipulator arm;
• determining a partially non-straight insertion trajectory for the replacement tool based on the reference geometry;
• and
• controlling the replacement tool to move in accordance with the insertion trajectory while the replacement tool is inserted toward a target location of the insertion trajectory,
• wherein the controlling the replacement tool to move in accordance with the insertion trajectory comprises the controlling is configured to:
• control a joint of the replacement tool to alter an angle or position of the joint such that the end effector follows the partially non-straight insertion trajectory.

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

• determining a kinematic configuration, the kinematic configuration being of a manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool inserted at an insertion location;
• determining a reference geometry of the previous tool in the kinematic configuration;
• detecting a removal of the previous tool from the manipulator arm;
• detecting an installation of a replacement tool on the manipulator arm;
• determining a partially non-straight insertion trajectory for the replacement tool based on the reference geometry;
• and
• controlling the replacement tool to move in accordance with the insertion trajectory while the replacement tool is inserted toward a target location of the insertion trajectory,
• wherein the controlling the replacement tool to move in accordance with the insertion trajectory comprises controlling a joint of the replacement tool to alter an angle or position of the joint such that the end effector follows the partially non-straight insertion trajectory.