US Patent 11779405 Systems and methods for entry point localization

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.