Methods and devices for tele-surgical table registration

Abstract

A method comprises receiving at least one sensor reading that indicates a position or an orientation of a manipulator arm of a manipulator assembly when a keying feature of a distal portion of the manipulator arm is in contact with and received by a key receiving feature of a registration element of a table mounted registration device mounted to a side of a surgical table between a top surface and a bottom surface of the surgical table. The distal portion of the manipulator arm is movable in a plurality of degrees of freedom. The method further comprises determining, based on the received sensor reading, a spatial relationship between the manipulator assembly and the table mounted registration device; and reducing, by the table mounted registration device, the plurality of degrees of freedom when the table mounted registration device is in contact with and receives the distal portion of the manipulator arm.