Systems and methods to correct for uncommanded instrument roll

A system configured to transform a control frame of a medical instrument configured to be inserted into a patient, the system comprising:

• a control system configured to determine movement of the medical instrument;
• at least one computer-readable memory having stored thereon executable instructions;
• and
• one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
• obtain a control frame of reference representing relationship between a motor control command and a motor output of the medical instrument;
• determine a tip frame of reference based on data from at least one imaging device or location sensor at a distal end of the medical instrument, the tip frame of reference representing a current orientation of the distal end of the medical instrument;
• obtain a desired frame of reference;
• and
• transform the control frame of reference based on the tip frame of reference and the desired frame of reference.