Trajectory tracking for medical device

A steerable medical device, comprising:

• an endoscope including a handle and an elongate shaft extending distally from the handle to a distal tip, wherein the endoscope includes an umbilicus attached to and extending from the handle, the umbilicus configured to provide electronic communication between the endoscope and a workstation;
• and
• a motor control assembly including a motor control housing configured to detachably couple with the handle, wherein the umbilicus remains attached to the handle when the motor control housing is detached from the handle;
• wherein the motor control assembly includes:
• a first drive motor disposed within the motor control housing and configured to cause the distal tip to deflect within a first plane;
• a second drive motor disposed within the motor control housing and configured to cause the distal tip to deflect within a second plane different from the first plane;
• an input device;
• and
• a controller operably coupled with the first drive motor, the second drive motor and the input device, the controller configured to:
• receive instructions to move the distal tip along a trajectory;
• implement a learning model that indicates how encoder values for each of the first motor and the second motor correspond to movement of the distal tip;
• and
• control operation of the first drive motor and/or the second drive motor in order to move the distal tip along the trajectory while minimizing a difference between a desired encoder value and a current encoder value.