Flexible instrument insertion using an adaptive insertion force threshold

A robotic system, comprising:

• a medical instrument comprising an elongate body;
• a first sensor comprising a shape sensor placed in or on a first portion of the elongate body;
• and
• a controller configured to:
• direct a command to move the elongate body,
• receive sensor data generated from the first sensor, the sensor data comprising information regarding a first measured status comprising a measured shape of the first portion of the elongate body,
• compare the first measured status with a first expected status comprising an expected shape of the first portion of the elongate body expected to be caused by the command;
• and
• responsive to the first measured status deviating from the first expected status by more than a first associated threshold, determine that the elongate body has buckled.

A method for determining buckling of an elongate body of a medical instrument, the method comprising:

• commanding a robotic manipulator to move the elongate body of the medical instrument, the elongate body comprising a first sensor comprising a shape sensor placed in or on a first portion of the elongate body;
• receiving sensor data generated from the first sensor, the sensor data comprising information regarding a first measured status comprising a measured shape of the first portion of the elongate body,
• comparing the first measured status with a first expected status comprising an expected shape of the first portion of the elongate body expected to be caused by the command;
• and
• responsive to the first measured status deviating from the first expected status by more than a first associated threshold, determining that the elongate body has buckled.