Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms

A method of controlling movement in a medical system, the method comprising:

• receiving one or more first configurations for a first movable arm of a computer-assisted surgical device, the first movable arm being coupled to a manipulatable device having a working end;
• receiving one or more second configurations for a second movable arm coupled to an image capturing device separate from the computer-assisted surgical device;
• receiving a first plurality of images of the working end from the image capturing device;
• determining, based on at least one of the first plurality of images, a position and an orientation of the working end in a common reference frame;
• determining, based on the first configurations, a first movable arm position and a first movable arm trajectory for the first movable arm in the common reference frame;
• determining, based on the second configurations, a second movable arm position and a second movable arm trajectory for the second movable arm in the common reference frame;
• based on the first movable arm position, the first movable arm trajectory, the second movable arm position, and the second movable arm trajectory, determining whether motion of the first movable arm, motion of the second movable arm, or motions of the first and second movable arms together will result in an undesirable relationship between the first and second movable arms;
• and
• sending a first movement command to the first movable arm or the second movable arm to avoid the undesirable relationship.

A movement control system comprising:

• a tracking system;
• and
• a controller coupled to the tracking system, the controller comprising:
• one or more processors;
• and
• memory coupled to the one or more processors;
• wherein:
• the controller is coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end;
• the controller is further coupled to a second movable arm coupled to an image capturing device separate from the computer-assisted surgical device;
• the controller is configured to:
• receive first kinematic data for the first movable arm;
• receive second kinematic data for the second movable arm;
• receive first tracking data for the first movable arm from the tracking system;
• receive second tracking data for the second movable arm from the tracking system;
• determine, based on the first kinematic data and the first tracking data, a first location of the first movable arm;
• determine, based on the second kinematic data and the second tracking data, a second location of the second movable arm;
• send a first movement command to the second movable arm that directs the second movable arm to move into a first set-up position to capture images of at least a portion of the manipulatable device while maintaining a first safety margin between the first movable arm and the second movable arm, the first movement command being based on the first location and the second location;
• receive third kinematic data for the first movable arm;
• receive fourth kinematic data for the second movable arm;
• receive one or more first images from the image capturing device, the one or more first images capturing at least a portion of the manipulatable device;
• determine, based on the third kinematic data and the one or more first images, a third location of the first movable arm;
• determine, based on the fourth kinematic data and the one or more first images, a fourth location of the second movable arm;
• and
• send a second movement command to the second movable arm that directs the second movable arm to move into a second set-up position, different from the first set-up position, to capture images of a region of interest while maintaining a second safety margin between the first movable arm and the second movable arm, the second movement command being based on the third location and the fourth location.