Systems and methods for aligning an elongate member with an access site

A system for aligning an elongate member with an access site, the system comprising:

• a revolute joint configured to support an instrument driver, wherein the revolute joint is longitudinally translatable relative to an operating table, and wherein the instrument driver is configured to axially and laterally displace an elongate member;
• an alignment joint comprising a stabilizer, wherein the alignment joint is longitudinally translatable relative to the operating table, and wherein the alignment joint is configured to align the elongate member with the access site;
• and
• at least one position sensor, wherein the at least one position sensor provides feedback to the revolute joint, such that the revolute joint aligns the instrument driver with the access site and prevents the instrument driver from overrunning the access site.

A method of aligning an elongate member, controlled by an instrument driver, with an access site, the method comprising:

• determining a position of a stabilizer of an alignment joint and the access site on a patient;
• coupling the stabilizer to the access site on the patient;
• and
• automatically aligning the instrument driver with the stabilizer on the patient, wherein the instrument driver is configured to not overrun the access site.