System and method for monitoring control points during reactive motion

A computer-assisted device comprising:

• a plurality of manipulators, each manipulator of the plurality of manipulators comprising a plurality of joints, a plurality of links coupled by the plurality of joints, and a plurality of actuators coupled to drive motion of a corresponding manipulator, each manipulator of the plurality of manipulators being associated with at least one control point of a plurality of control points;
• a control unit comprising one or more hardware processors, the control unit operatively coupled to each manipulator of the plurality of manipulators;
• wherein the control unit is configured to:
• determine a first spatial configuration of the plurality of control points, the first spatial configuration being prior to a movement of a table being operated concurrently with the computer-assisted device;
• determine the movement of the table, the movement of the table causing movement of at least a first control point of the plurality of control points;
• determine, based on the movement of the table and the first spatial configuration, an expected spatial configuration of the plurality of control points;
• compare the expected spatial configuration with an actual spatial configuration of the plurality of control points, to determine whether to perform a remedial action;
• and
• perform the remedial action in response to a determination to perform the remedial action.