Systems and methods for bifurcated navigation control of a manipulator cart included within a computer-assisted medical system

A method comprising:

• defining, by a bifurcated navigation control system, a path whereby a manipulator cart included within a computer-assisted medical system is to navigate from an initial location to a target location;
• identifying, by the bifurcated navigation control system, a navigation condition associated with a navigation of the manipulator cart along the path from the initial location to the target location;
• defining, by the bifurcated navigation control system based on the navigation condition, a propulsion limitation configured to be imposed on operator-provided commands related to a propulsion of the manipulator cart during the navigation of the manipulator cart along the path;
• and
• directing, by the bifurcated navigation control system, the manipulator cart to navigate, in a bifurcated navigation control mode, along at least part of the path from the initial location to the target location;
• wherein, in the bifurcated navigation control mode, the bifurcated navigation control system autonomously controls a steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart based on the operator-provided commands as limited by the propulsion limitation.

A non-transitory computer-readable medium storing instructions that, when executed, direct a processor of a computing device to:

• define a path whereby a manipulator cart included within a computer-assisted medical system is to navigate from an initial location to a target location;
• identify a navigation condition associated with a navigation of the manipulator cart along the path from the initial location to the target location;
• define, based on the navigation condition, a propulsion limitation configured to be imposed on operator-provided commands related to a propulsion of for the manipulator cart during the navigation of the manipulator cart along the path;
• and
• direct the manipulator cart to navigate, in a bifurcated navigation control mode, along at least part of the path from the initial location to the target location;
• wherein, in the bifurcated navigation control mode, the instructions direct the processor to autonomously control a steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart based on the operator-provided commands as limited by the propulsion limitation.