Abstract: A teleoperative system includes a first medical instrument connected to and movable by a first manipulator assembly, a second medical instrument connected to and movable by a second manipulator assembly, a first alignment component positioned on at least one of the first manipulator assembly or the second manipulator assembly; a second alignment component positioned on an entry port; and a control system. The second medical instrument is sized and shaped to fit and move within the first medical instrument. The control system is configured to determine, based on the first and second alignment components, a position and orientation of the first medical instrument with respect to the entry port.

Abstract: A method performed by a computing system comprises determining an entry position and entry vector of an entry port in a surgical coordinate space. The entry port provides a passageway for insertion of a first medical instrument into a patient's body. The determination of the entry position and entry vector occurs while the first medical instrument is external to the entry port. The method also comprises positioning the first medical instrument based on the entry position and the entry vector of the entry port and advancing a distal end of the first medical instrument along the entry vector into the entry port.

Abstract: A teleoperative system includes a teleoperational manipulator, a flexible medical instrument, an entry port, a sensor system, and a control system. The flexible medical instrument is coupled to and movable by the teleoperational manipulator. The entry port provides a passageway for insertion of the flexible medical instrument into a patient body. The sensor system includes a first sensor fixedly coupled to the entry port. The control system is configured to use information transmitted by the first sensor to determine a position and orientation of the entry port with respect to the flexible medical instrument.

Abstract: A method performed by a computing system comprises determining an entry position and entry vector of an entry port in a surgical coordinate space. The entry port provides a passageway for insertion of a first medical instrument into a patient's body. The determination of the entry position and entry vector occurs while the first medical instrument is external to the entry port. The method also comprises positioning the first medical instrument based on the entry position and the entry vector of the entry port and advancing a distal end of the first medical instrument along the entry vector into the entry port.