Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator

A method of controlling a robotic surgical system comprising:

• presenting information related to at least one of a robotic manipulator or a surgical instrument, the robotic manipulator having a base and a surgical instrument holder configured to move relative to the base, and the surgical instrument being removably coupled to the surgical instrument holder;
• detecting a gesture made by a user representing a desired movement of the robotic manipulator;
• and
• actuating the robotic manipulator in a predetermined manner corresponding to the detected gesture.

A robotic surgical system comprising:

• a console including a user interface configured to display one or more surgical instrument representations and to detect a gesture over one of the one or more surgical instrument representations;
• a robotic arm having a distal end configured to selectively couple to and decouple from a surgical instrument;
• and
• a controller in communication with the robotic arm and the console, the controller including one or more processors and one or more memories having instructions stored thereon which, when executed by the one or more processors, cause the one or more processors to, in response to detecting the gesture indicating the selection of one of the one or more surgical instrument representations, detect a location of a surgical instrument corresponding to the selected one of the one or more surgical instrument representations, and determine whether the corresponding surgical instrument is coupled to the distal end of the robotic arm.