System and method of operating surgical robotic systems with access ports of varying length

A surgical robotic system comprising:

• a robotic arm configured to support an access port and an instrument having an end effector inserted into the access port;
• a surgeon console including:
• a hand controller configured to control at least one of the robotic arm or the instrument;
• and
• a display;
• a controller configured to:
• output a first prompt on the display, the first prompt requesting user identification of a property of the access port;
• confirm the property of the access port;
• and
• output a second prompt on the display, the second prompt requesting user affirmation of the property of the access port based on a confirmation of the property of the access port.

A method for controlling a surgical robotic system, the method comprising:

• outputting a first prompt on a display of a surgeon console, the first prompt requesting user identification of a property of an access port, wherein the access port is configured to receive an instrument supported by a robotic arm and the instrument includes an end effector;
• confirming the property of the access port at a controller;
• and
• outputting a second prompt on the display, the second prompt requesting user affirmation of the property of the access port based on the confirmation of the property of the access port.

A method for controlling a surgical robotic system, the method comprising:

• monitoring operation of an instrument having an end effector relative to a virtual boundary, the instrument and an access port supported by a robotic arm;
• determining whether a number of operations of the instrument outside the virtual boundary or a duration of operations of the instrument outside the virtual boundary exceeds a threshold;
• and
• outputting a prompt on a display of a surgeon console requesting user affirmation of a type of the access port in response to the number of operations or the duration exceeding the threshold.