Systems and methods for adjusting remote center distances in medical procedures

A surgical method, comprising:

• during a single treatment episode, maintaining a first remote center distance between a first cannula interface and a first remote center of motion of a first robotic arm, the first remote center of motion being located along a first cannula that provides a first port and is mounted to the first cannula interface of the first robotic arm, the first robotic arm inserting a first medical tool through the first cannula, and wherein the first robotic arm rotating the first cannula about the first remote center of motion;
• during the single treatment episode, maintaining a second remote center distance between a second cannula interface and a second remote center of motion of a second robotic arm, the second remote center of motion being located along a second cannula that provides a second port and is mounted to the second cannula interface of the second robotic arm, the second robotic arm inserting a second medical tool through the second cannula, and the second robotic arm rotating the second cannula about the second remote center of motion;
• and
• during the single treatment episode, maintaining the first remote center distance between the first cannula interface and the first remote center to be different from the second remote center distance between the second cannula interface and the second remote center of motion.

A surgical method, comprising:

• providing a first robotic arm comprising a first drive mechanism and a first cannula interface, wherein a first cannula is mounted to the first cannula interface of the first robotic arm and the first robotic arm is associated with a first remote center of motion that is located at a first port and is spaced apart from the first cannula interface by a first remote center distance;
• providing a second robotic arm comprising a second drive mechanism and a second cannula interface, wherein a second cannula is mounted to the second cannula interface of the second robotic arm and the second robotic arm is associated with a second remote center of motion that is located at a second port and is spaced apart from the second cannula interface by a second remote center distance;
• avoiding a collision between the first robotic arm and the second robotic arm by adjusting the first remote center distance;
• and
• simultaneously maintaining the adjusted first remote center distance to be different from the second remote center distance.