Secondary instrument control in a computer-assisted teleoperated system

1. A teleoperational system comprising:

a first manipulator configured to support an instrument moveable within an instrument workspace, the instrument having an instrument frame of reference;

an operator input device configured to receive movement commands from an operator; and

a control system, wherein to implement the movement commands, the control system is configured to:

receive, via the operator input device, a first movement command from the operator,

compare an orientation of the instrument with an orientation of a field of view of an imaging system to produce an orientation difference, the imaging system being configured to capture images of the instrument workspace,

when the orientation difference does not meet an orientation criterion set:

convert, based on a first movement command mapping, the first movement command to a first instrument motion in a first direction relative to the instrument frame of reference, and

cause the instrument to move according to the first instrument motion, and

when the orientation difference comparison meets the orientation criterion set:

convert, based on a second movement command mapping, the first movement command to a second instrument motion in a second direction relative to the instrument frame of reference, and

cause the instrument to move according to the second instrument motion,

wherein the second movement command mapping differs from the first movement command mapping.

2. The teleoperational system of claim 1 , wherein the orientation criterion set comprises the orientation difference exceeding an orientation difference threshold.

3. The teleoperational system of claim 2 , wherein the orientation difference threshold is greater than or equal to 135° and less than or equal to 225° relative to a centerline of the field of view.

4. The teleoperational system of claim 1 , wherein the orientation criterion set includes an indication, stored in memory, that the first manipulator is associated with a secondary platform.

5. The teleoperational system of claim 1 wherein the control system is further configured to:

in response to the orientation difference not meeting the orientation criterion set:

convert, based on a third movement command mapping, the first movement command to a third instrument motion in a third direction relative to the instrument frame of reference, and

cause the instrument to move according to the third instrument motion, and

in response to the orientation difference meeting the orientation criterion set:

convert, based on a fourth movement command mapping, the first movement command to a fourth causing instrument motion in a fourth direction relative to the instrument frame of reference, and

cause the instrument to move according to the fourth instrument motion

wherein the fourth movement command mapping differs from the third movement command mapping.

6. The teleoperational system of claim 1 , further comprising a second manipulator configured to support an imaging sensor configured to provide the field of view, wherein:

the first manipulator is supported by a first base,

the second manipulator is supported by a second base, and

the first and second bases are physically separate and are moveable relative to each other.

7. The teleoperational system of claim 6 , wherein the first base is configured for mounting to a medical table.

8. The teleoperational system of claim 1 , wherein the control system is further configured to:

detect that the first manipulator is a secondary platform manipulator.

9. The teleoperational system of any claim 1 , wherein the control system is configured to convert the first movement command to the first instrument motion or the second instrument motion by altering one or more directional components of the first movement command.

10. The teleoperational system of claim 9 , wherein altering the one or more of the directional components of the first movement command comprises inverting the one or more of the directional components of the first movement command.

11. The teleoperational system claim 1 , wherein the operator input device is aligned with a distal end of the instrument in the instrument frame of reference by an ergonomic offset.

12. The teleoperational system of claim 1 , wherein the instrument moveable within the instrument workspace is a medical instrument moveable within a surgical site.

13. The teleoperational system of claim 1 , wherein the first direction is an inversion of the second direction.

14. The teleoperational system of claim 1 , wherein the control system is configured to compare the orientation of the instrument with the orientation of the field of view of the imaging system by:

using the orientation of the first manipulator as the orientation of the instrument; and

comparing the orientation of the first manipulator with an orientation of another manipulator that supports the imaging system providing the field of view.

15. The teleoperational system of claim 1 , wherein the control system is configured to compare the orientation of the instrument with the orientation of the field of view by:

determining an angle between a first axis characterizing the orientation of the instrument and a second axis characterizing the orientation of the field of view.