Changing mode of operation of an instrument based on gesture detection

A method comprising:

• obtaining, by a processor system, kinematics data associated with at least one of an instrument or a structure of a computer-assisted device supporting the instrument, the instrument for performing tasks at a worksite in response to manipulation of a leader input device by an operator;
• based on at least the kinematics data, recognizing, by the processor system, a gesture performed via the instrument;
• and
• in response to recognizing the gesture, causing, by the processor system, a change from a first mode of operation to a second mode of operation.

One or more non-transitory machine-readable media comprising a plurality of machine-readable instructions which when executed by a processor system associated with a computer-assisted system are adapted to cause the processor system to perform a method comprising:

• obtaining kinematics data associated with at least one of an instrument or a structure of a computer-assisted device supporting the instrument, the instrument for performing tasks at a worksite in response to manipulation of a leader input device by an operator;
• based on at least the kinematics data, recognizing a gesture performed via the instrument;
• and
• in response to recognizing the gesture, causing a change from a first mode of operation to a second mode of operation.