Surgical puncture device insertion systems and related methods

A medical puncture system comprising:

• a controllable manipulator configured to support a puncture device, the puncture device configured to create a puncture through patient tissue and into an internal patient cavity, wherein the controllable manipulator comprises one or more joints;
• a sensor configured to generate signals indicative of a parameter associated with a joint of the one or more joints of the controllable manipulator;
• a drive system configured to drive the one or more joints of the controllable manipulator;
• and
• a controller operably coupled to the sensor and the drive system, the controller configured to:
• when the puncture device is supported by the controllable manipulator, operate the drive system, based on at least one signal generated by the sensor as the puncture device is moved through the patient tissue into the cavity, to cause the controllable manipulator to guide creation of the puncture by the puncture device, the at least one signal being indicative of motion of the puncture device from a first layer of the patient tissue to a second layer of the patient tissue or indicative of the motion of the puncture device from the patient tissue into the cavity.