System and method for motion mode management

A method of operating a teleoperated system, the method comprising:

• detecting, by a control unit based on information from one or more first sensors, movement of an input control for teleoperating a repositionable structure of the teleoperated system, the control unit comprising one or more hardware processors, the repositionable structure comprising a first plurality of joints, a plurality of links coupled by the first plurality of joints, and a first plurality of actuators coupled to drive motion of the repositionable structure, the input control comprising a first kinematic chain having a second plurality of joints, the input control further comprising the one or more first sensors;
• and
• in response to a determination that at least a portion of the movement of the input control includes a component of movement used to indicate that a mode of operation of the teleoperated system should be changed, temporarily disabling, by the control unit, changes in the mode of operation of the teleoperated system based on movement of the input control.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more hardware processors of a teleoperated system are adapted to cause the one or more hardware processors to perform a method comprising:

• detecting, based on information from one or more first sensors, movement of an input control for teleoperating a repositionable structure of the teleoperated system, the repositionable structure comprising a first plurality of joints, a plurality of links coupled by the first plurality of joints, and a first plurality of actuators coupled to drive motion of the repositionable structure, the input control comprising a first kinematic chain having a second plurality of joints, the input control further comprising the one or more first sensors;
• and
• in response to a determination that at least a portion of the movement of the input control includes a component of movement used to indicate that a mode of operation of the teleoperated system should be changed, temporarily disabling changes in the mode of operation of the teleoperated system based on movement of the input control.