Guided tool change

A method for operating a medical system, comprising:

• determining, using a sensor system, a kinematic configuration of a previous tool attached to a manipulator arm, the kinematic configuration being prior to a removal of the previous tool;
• determining a mounting of a replacement tool to the manipulator arm after a removal of the previous tool from the manipulator arm;
• determining, based on the kinematic configuration of the previous tool comprising a non-straight configuration, a trajectory for the replacement tool comprising a non-straight portion reflecting the non-straight configuration;
• and
• controlling an actuator system to move the replacement tool in accordance with the trajectory as the replacement tool is inserted,
• wherein the controlling the actuator system to move the replacement tool in accordance with the trajectory comprises:
• in response to the trajectory comprising the non-straight portion, controlling the actuator system to alter at least one angle or position such that an end effector of the replacement tool moves in accordance with the non-straight portion, wherein the at least one angle or position comprises an angle or position selected from the group consisting of:
• an angle of a joint of the manipulator arm, a position of the joint of the manipulator arm, an angle of a joint of the replacement tool, and a position of the joint of the replacement tool.

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, using a sensor system, a kinematic configuration of a previous tool attached to a manipulator arm, the kinematic configuration being prior to a removal of the previous tool;
• determining a mounting of a replacement tool to the manipulator arm after a removal of the previous tool from the manipulator arm;
• determining, based on the kinematic configuration of the previous tool comprising a non-straight configuration, a trajectory for the replacement tool comprising a non-straight portion reflecting the non-straight configuration;
• and
• controlling an actuator system to move the replacement tool in accordance with the trajectory as the replacement tool is inserted,
• wherein the controlling the actuator system to move the replacement tool in accordance with the trajectory comprises:
• in response to the trajectory comprising the non-straight portion, controlling the actuator system to alter at least one angle or position such that an end effector of the replacement tool moves in accordance with the non-straight portion, wherein the at least one angle or position comprises an angle or position selected from the group consisting of:
• an angle of a joint of the manipulator arm, a position of the joint of the manipulator arm, an angle of a joint of the replacement tool, and a position of the joint of the replacement tool.