System and method for rapid halt and recovery of motion deviations in repositionable arms

A method of operating a computer-assisted device, the method comprising:

• monitoring, by a control unit of the computer-assisted device, an actual motion of at least one structure, the at least one structure selected from the group consisting of a first repositionable arm of the computer-assisted device and a first end effector configured to be supported by the first repositionable arm;
• determining, by the control unit, a composite deviation between a plurality of kinematic or dynamic values of the actual motion and the plurality of kinematic or dynamic values of a desired motion of the at least one structure;
• determining, by the control unit, whether the composite deviation is greater than a deviation threshold;
• and
• in response to the composite deviation being greater than the deviation threshold:
• halting, by the control unit, motion of the first repositionable arm or a second repositionable arm of the computer-assisted device.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted device are adapted to cause the one or more processors to perform a method comprising:

• monitoring an actual motion of at least one structure, the at least one structure selected from the group consisting of a first repositionable arm of the computer-assisted device and a first end effector configured to be supported by the first repositionable arm;
• determining a composite deviation between a plurality of kinematic or dynamic values of the actual motion and the plurality of kinematic or dynamic values of a desired motion of the at least one structure;
• determining whether the composite deviation is greater than a deviation threshold;
• and
• in response to the composite deviation being greater than the deviation threshold:
• halting motion of the first repositionable arm or a second repositionable arm of the computer-assisted device.