Multiple-input instrument position determination

A robotic system comprising:

• an instrument including an elongate shaft;
• a robotic manipulator configured to manipulate the elongate shaft of the instrument;
• and
• control circuitry communicatively coupled to the robotic manipulator and configured to:
• determine a commanded motion of a distal end of the elongate shaft based on robotic command data, the commanded motion associated with a first confidence factor;
• determine a sensed motion of the distal end of the elongate shaft based on position sensor data, the sensed motion associated with a second confidence factor;
• compare the commanded motion with the sensed motion;
• adjust a weight of the first confidence factor or the second confidence factor based on the comparison of the commanded motion with the sensed motion;
• and
• determine an occurrence of buckling of the elongate shaft or hysteresis of the elongate shaft based on the first confidence factor and the second confidence factor.

A method comprising:

• determining a first estimated position of at least a portion of an elongate shaft of an instrument based on robotic command data, the first estimated position associated with a first confidence factor;
• determining a second estimated position of the portion of the elongate shaft based on position sensor data, the second estimated position associated with a second confidence factor;
• comparing the first estimated position with the second estimated position;
• adjust a weight of the first confidence factor or the second confidence factor based on the comparison of the first estimated position with the second estimated position;
• and
• generating a third estimated position of the portion of the elongate shaft based on the first confidence factor and the second confidence factor.