WO2026024697A1 - Detection, handling, and resolution of unintended bending for flexible elongate device - Google Patents

Abstract

A medical system including: a manipulator assembly configured to drive movement of a flexible elongate device along at least one axis of motion; a sensor system configured to determine a proximal velocity of a proximal end portion of the flexible elongate device and a distal velocity of a distal end portion of the flexible elongate device; and a control system coupled to the manipulator assembly and the sensor system, the control system configured to: identify, based on the proximal velocity and the distal velocity, a bend formed by the flexible elongate device; and in response to identifying the bend, provide an indication to a user of the medical system that the bend has been identified.

Description

DETECTION, HANDLING, AND RESOLUTION OF UNINTENDED BENDING FOR FLEXIBLE ELONGATE DEVICE CROSS-REFERENCE TO RELATED APPLICATIONS [0001] This application claims priority to and the benefit of the filing date of U.S. Provisional Patent Application 63/840,966, filed on July 9, 2025, which is hereby incorporated by reference herein in its entirety. This application further claims priority to and the benefit of the filing date of U.S. Provisional Patent Application 63/674,150, filed on July 22, 2024, which is hereby incorporated by reference herein in its entirety. TECHNICAL FIELD [0002] Disclosed embodiments relate to improved detection and handling of buckling and buckling resolution for flexible elongate devices. BACKGROUND [0003] Minimally invasive medical techniques are intended to reduce the amount of tissue that is damaged during medical procedures, thereby reducing patient recovery time, discomfort, and harmful side effects. Such minimally invasive techniques may be performed through natural orifices in a patient anatomy or through one or more surgical incisions. Through these natural orifices or incisions, physicians may insert minimally invasive medical instruments (including surgical, diagnostic, therapeutic, and/or biopsy instruments) to reach a target tissue location. One such minimally invasive technique is to use a flexible and/or steerable elongate device, such as a flexible catheter, endoscope, or bronchoscope, which can be inserted into anatomic passageways and navigated toward a region of interest within the patient’s anatomy. [0004] Unlike rigid instruments, the flexible nature of a flexible elongate device may result in unintended motions as the flexible elongate device is robotically or manually controlled during a procedure. For example, the flexible elongate device may deform causing a bend, such as a loop or a buckled state (e.g., the formation of a prolapse, formation of an unintended curvature, or any type of displacement from an expected position). Such behavior may arise as the flexible elongate device interacts with tissue while it is being inserted into the patient. After entering the buckled or bent state, another unintended motion may include resolution of the buckled or bent state (e.g., without controls or other responses intended to resolve the buckled state). Such buckling or bending and possible unintended motion can impact clinical effectiveness, may cause a loss of intuitive control, may impair instrument navigational and control capability, and other aspects of system performance. It is desirable to detect and appropriately handle such bends during a procedure. SUMMARY [0005] In general, in one aspect, one or more embodiments relate to a medical system comprising: a manipulator assembly configured to drive movement of a flexible elongate device; a proximal sensor configured to generate proximal position information of a proximal portion of the flexible elongate device; a distal sensor configured to generate distal position information of a distal portion of the flexible elongate device, the distal portion of the flexible elongate device being distal to the proximal portion of the flexible elongate device; and a control system. The control system is configured to: identify a resolution of a buckled state in the flexible elongate device based on the proximal position information and the distal position information; and in response to identifying the resolution of the buckled state, at least one of: (a) provide an indication of the resolution of the buckled state; or (b) transmit a command to the manipulator assembly to control the flexible elongate device. [0006] In general, in one aspect, one or more embodiments relate to a medical system comprising: a manipulator assembly configured to drive movement of a flexible elongate device; a proximal sensor configured to generate proximal position information of a proximal portion of the flexible elongate device; a distal sensor configured to generate distal position information of a distal portion of the flexible elongate device, the distal portion of the flexible elongate device being distal to the proximal portion of the flexible elongate device; and a control system. The control system is configured to: identify a buckled state in the flexible elongate device based on the proximal position information and the distal position information; and in response to identifying the buckled state, at least one of: (a) provide an indication of the buckled state; or (b) transmit a command to the manipulator assembly to control the flexible elongate device. [0007] In general, in one aspect, one or more embodiments relate to a medical system including: a manipulator assembly configured to drive movement of a flexible elongate device along at least one axis of motion; a sensor system configured to determine a proximal velocity of a proximal end portion of the flexible elongate device and a distal velocity of a distal end portion of the flexible elongate device; and a control system coupled to the manipulator assembly and the sensor system, the control system configured to: identify, based on the proximal velocity and the distal velocity, a bend formed by the flexible elongate device; and in response to identifying the bend, provide an indication to a user of the medical system that the bend has been identified. [0008] In general, in one aspect, one or more embodiments of the disclosure relate to a non-transitory machine-readable medium comprising a plurality of machine-readable instructions executed by one or more processors associated with a medical system including a manipulator assembly configured to drive movement of a flexible elongate device along at least one axis of motion, and a sensor system configured to determine a proximal velocity of a proximal end portion of the flexible elongate device and a distal velocity of a distal end portion of the flexible elongate device, the plurality of machine-readable instructions causing the one or more processors to: identify, based on the proximal velocity and the distal velocity, a bend formed by the flexible elongate device; and in response to identifying the bend, provide an indication to a user of the medical system that the bend has been identified. [0009] In general, in one aspect, one or more embodiments of the disclosure relate to a method of operating a medical system including a manipulator assembly configured to drive movement of a flexible elongate device along at least one axis of motion, a sensor system configured to determine a proximal velocity of a proximal end portion of the flexible elongate device and a distal velocity of a distal end portion of the flexible elongate device, and a control system coupled to the manipulator assembly and the sensor system, the method including: identifying, based on the proximal velocity and the distal velocity, a bend formed by the flexible elongate device; and in response to identifying the bend, providing an indication to a user of the medical system that the bend has been identified. [0010] Other aspects of the invention will be apparent from the following description and the appended claims. BRIEF DESCRIPTION OF DRAWINGS [0011] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be shown and/or labeled in every drawing. A dashed reference numeral indicator line for structural elements indicates the structural element may be partial or fully overlapped (e.g., obscured by a separate structure, covered by a transparent separate structure, indicating a reverse side of a structure). In the drawings: [0012] FIG. 1 is a simplified diagram of a medical system according to some embodiments. [0013] FIG. 2A is a simplified diagram of a medical instrument system according to some embodiments. [0014] FIG.2B is a simplified diagram of a medical instrument including a manipulator assembly within a flexible elongate device according to some embodiments. [0015] FIGs. 3A-3B are simplified diagrams of a side view of a patient coordinate space including a medical instrument according to some embodiments. [0016] FIGs. 4A-4C show configurations of an elongate device. [0017] FIGs. 5A-5B show methods according to some embodiments. [0018] FIGs. 6A-6E show methods according to some embodiments. [0019] FIGs. 7A-7E show methods according to some embodiments. [0020] FIG. 8A-8B illustrate an elongate device according to some embodiments. [0021] FIGs. 9A-9E illustrate an elongate device according to some embodiments. [0022] FIGs. 10A-10B illustrate an elongate device according to some embodiments. [0023] FIG. 11 shows a method according to some embodiments. [0024] Embodiments of the present disclosure and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures, wherein showings therein are for purposes of illustrating embodiments of the present disclosure and not for purposes of limiting the same. DETAILED DESCRIPTION [0025] Embodiments relate to detection and handling of a buckled state and/or resolution of a buckled state of an elongate device. [0026] External forces acting on an elongated device in a buckled state (e.g., forces that are not unaccounted for in the kinematic representation of an elongate device or its associated control algorithms) may degrade the navigational and control capabilities of the elongate device. For example, an external force acting on a portion of the elongate device (e.g., physical contact with an obstruction or surface of the environment while the buckled state persists) may cause the behavior of elongate device to deviate from an input control (e.g., an intended motion, an intended operation). Furthermore, the release of this external force (e.g., caused by intentional or unintentional resolution of the buckled state) may cause the elongate device to move independently from any input control. A medical system equipped with a sensor system may be configured to identify the buckled state and/or a resolution of the buckled state and, based on information from the sensor system, modify the control algorithms of the elongate device to avoid or reduce unintended motions related to the buckled state. [0027] In general, one or more aspects of the elongate device or its associated control algorithms may be modified in response to identification of a buckled state and/or resolution of a buckled state to reduce or eliminate unintended motion of the elongate device. For example, the stiffness or rigidity of the elongate device may be reduced to reduce the magnitude of an external force acting on the elongate device in the buckled state. The weaker external force may reduce or eliminate deviation from input controls in the buckled state and/or sudden movement during resolution of the buckled state. In some examples, one or more control algorithms of the elongate device (e.g., controls for an instrument attached to the elongate device) may be modified or disabled to prevent an action that may be unintentionally affect patient safety or clinical effectiveness. [0028] Specific embodiments of the disclosure will now be described in detail with reference to the accompanying figures. Like elements in the various figures are denoted by like reference numerals for consistency. [0029] In the following detailed description of embodiments of the disclosure, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description. [0030] Throughout the application, ordinal numbers (e.g., first, second, third, etc.) may be used as an adjective for an element (i.e., any noun in the application). The use of ordinal numbers is not to imply or create any particular ordering of the elements, and is not to limit any element to being only a single element unless expressly disclosed, such as by the use of the terms “before”, “after”, “single”, and other such terminology. Rather, the use of ordinal numbers is to distinguish between the elements. By way of an example, a first element is distinct from a second element, and the first element may encompass more than one element and succeed (or precede) the second element in an ordering of elements. [0031] This disclosure describes various devices, elements, and portions of computer- assisted systems and elements in terms of their state in three-dimensional space. As used herein, the term “position” refers to the location of an element or a portion of an element (e.g., three degrees of translational freedom in a three-dimensional space, such as along Cartesian x- , y-, and z-coordinates). As used herein, the term “orientation” refers to the rotational placement of an element or a portion of an element (e.g., three degrees of rotational freedom in three-dimensional space, such as about roll, pitch, and yaw axes, represented in angle-axis, rotation matrix, quaternion representation, and/or the like). As used herein, and for a device with a kinematic series, such as with a repositionable structure with a plurality of links coupled by one or more joints, the term “proximal” refers to a direction toward a base of the kinematic series, and “distal” refers to a direction away from the base along the kinematic series. [0032] As used herein, the term “pose” refers to the multi-degree of freedom (DOF) spatial position and orientation of a coordinate system of interest attached to a rigid body. In general, a pose includes a pose variable for each of the DOFs in the pose. For example, a full 6-DOF pose for a rigid body in three-dimensional space would include 6 pose variables corresponding to the 3 positional DOFs (e.g., x, y, and z) and the 3 orientational DOFs (e.g., roll, pitch, and yaw). A 3-DOF position only pose would include only pose variables for the 3 positional DOFs. Similarly, a 3-DOF orientation only pose would include only pose variables for the 3 rotational DOFs. Further, a velocity of the pose captures the change in pose over time (e.g., a first derivative of the pose). For a full 6-DOF pose of a rigid body in three-dimensional space, the velocity would include 3 translational velocities and 3 rotational velocities. Poses with other numbers of DOFs would have a corresponding number of velocities translational and/or rotational velocities. [0033] Aspects of this disclosure are described in reference to a medical system that includes a flexible elongate device (e.g., endoscope, catheter, other medical systems) that may experience buckling (i.e., formation of a prolapse) during a procedure. In one or more embodiments, the medical system may be a teleoperated surgical system, such as the Ion® System commercialized by Intuitive Surgical, Inc. of Sunnyvale, California. Knowledgeable persons will understand, however, that inventive aspects disclosed herein may be embodied and implemented in various ways, including teleoperated and non-teleoperated, and medical and non-medical embodiments and implementations. Implementations on Ion® Systems are merely exemplary and are not to be considered as limiting the scope of the inventive aspects disclosed herein. For example, techniques described with reference to surgical instruments and surgical methods may be used in other contexts. Thus, the instruments, systems, and methods described herein may be used for simulating humans, animals, portions of human or animal anatomy, industrial systems, general robotic, or teleoperated systems. As further examples, the models, instruments, systems, and methods described herein may be used for simulating non-medical purposes including industrial uses, general robotic uses, sensing or manipulating non-tissue work pieces, cosmetic improvements, imaging of human or animal anatomy, gathering data from human or animal anatomy, setting up or taking down systems, training medical or non-medical personnel, and/or the like. [0034] In general, the medical system includes a flexible elongate device and a sensor system of one or more sensors (e.g., a distal sensor, a proximal sensor) that determine position information of the flexible elongate device. Based on information from the sensor system, a buckled state in the flexible elongate device or a resolution of the buckled state may be identified. In some embodiments, the sensor system may include a fiber optic sensor within the flexible elongate device (i.e., a shape sensor), a position sensor (e.g., one or more electromagnetic (EM) sensors), an inertial processor (e.g., kinematic tracking during insertion), an internal imaging sensor (e.g., for internal localization relative to a map), an external imaging sensor (e.g., fluoroscopic imager). In some embodiments, the medical system includes a distal sensor and a proximal sensor that are portions of a single continuous sensor (e.g., a fiber shape sensor that spans the distal and proximal portions of the flexible elongate device). In some embodiments, the medical system monitors a distal sensor and a proximal sensor that are spatially separated along the flexible elongate device. [0035] For example, a discrepancy in the measured position or measured motion (i.e., an accumulation of position measurement over time) at the proximal and/or distal end portions of the elongate device may indicate a buckled state (e.g., the proximal sensor measuring movement but distal sensor not measuring movement indicates a buckled state in flexible elongate device somewhere between the positions measured by the proximal and distal sensors). In some embodiments, detection of the buckled state or the resolution of the buckled state may be based on a combination of different measurements (e.g., curvature, insertion position/motion, and distal tip position/motion). [0036] In addition, the medical system may be configured to respond to the detection of the buckled state or the resolution of the buckled state by providing an indication or transmitting a command to the manipulator assembly to control the flexible elongate device. For example, the medical system may notify the user of the buckled state or the resolution of the buckled state to encourage more caution in operating the medical system. [0037] Alternatively, or in addition, the medical system may implement one or more algorithms (e.g., modify the motion commands of the flexible elongate device, execute motion commands to resolve the buckled state or counteract the resolution of the buckled state) to reduce the occurrence or severity of unintended motion. For example, the medical system may modify the motion commands of the flexible elongate device to prevent unintended motion or to resolve the buckled state (e.g., disabling or changing settings for some or all of the medical system, commanding the flexible elongate device to stop, go limp, jostle, and/or dither). [0038] A more detailed discussion of various embodiments is provided below in reference to the figures. [0039] FIG. 1 is a simplified diagram of a medical system 100 according to some embodiments. The medical system 100 may be suitable for use in, for example, surgical, diagnostic (e.g., biopsy), or therapeutic (e.g., ablation, electroporation, etc.) procedures. While some embodiments are provided herein with respect to such procedures, any reference to medical or surgical instruments and medical or surgical methods is non-limiting. The systems, instruments, and methods described herein may be used for animals, human cadavers, animal cadavers, portions of human or animal anatomy, non-surgical diagnosis, as well as for industrial systems, general or special purpose robotic systems, general or special purpose teleoperational systems, or robotic medical systems. [0040] As shown in FIG. 1, medical system 100 may include a manipulator assembly 102 that controls the operation of a medical instrument 104 in performing various procedures on a patient P. Medical instrument 104 may extend into an internal site within the body of patient P via an opening in the body of patient P. The manipulator assembly 102 may be robot- assisted, non-assisted, or a hybrid robot-assisted and non-assisted assembly with select degrees of freedom of motion that may be motorized and/or robot-assisted and select degrees of freedom of motion that may be non-motorized and/or non-assisted. The manipulator assembly 102 may be mounted to and/or positioned near a patient table T. A master assembly 106 allows an operator O (e.g., a surgeon, a clinician, a physician, or other operator) to control the manipulator assembly 102. In some examples, the master assembly 106 allows the operator O to view the procedural site or other graphical or informational displays. In some examples, the manipulator assembly 102 may be excluded from the medical system 100 and the medical instrument 104 may be controlled directly by the operator O. In some examples, the manipulator assembly 102 may be manually controlled by the operator O. Direct operator control may include various handles and operator interfaces for hand-held operation of the medical instrument 104. [0041] The master assembly 106 may be located at a surgeon’s console which is in proximity to (e.g., in the same room as) a patient table T on which patient P is located, such as at the side of the patient table T. In some examples, the master assembly 106 is remote from the patient table T, such as in in a different room or a different building from the patient table T. The master assembly 106 may include one or more control devices for controlling the manipulator assembly 102. The control devices may include any number of a variety of input devices, such as joysticks, trackballs, scroll wheels, directional pads, buttons, data gloves, trigger-guns, hand-operated controllers, voice recognition devices, motion or presence sensors, and/or the like. [0042] The manipulator assembly 102 supports the medical instrument 104 and may include a kinematic structure of links that provide a set-up structure. The links may include one or more non-servo-controlled links (e.g., one or more links that may be manually positioned and locked in place) and/or one or more servo-controlled links (e.g., one or more links that may be controlled in response to commands, such as from a control system 112 (i.e., a preexisting control system)). The manipulator assembly 102 may include a plurality of actuators (e.g., motors) that drive inputs on the medical instrument 104 in response to commands, such as from the control system 112. The actuators may include drive systems that move the medical instrument 104 in various ways when coupled to the medical instrument 104. For example, one or more actuators may advance medical instrument 104 into a naturally or surgically created anatomic orifice. Actuators may control articulation of the medical instrument 104, such as by moving the distal end (or any other portion) of medical instrument 104 in multiple degrees of freedom. These degrees of freedom may include three degrees of linear motion (e.g., linear motion along the X, Y, Z Cartesian axes) and in three degrees of rotational motion (e.g., rotation about the X, Y, Z Cartesian axes). One or more actuators may control rotation of the medical instrument 104 about an axis. Actuators can also be used to move an articulable end effector of medical instrument 104, such as for grasping tissue in the jaws of a biopsy device and/or the like, or may be used to move or otherwise control tools (e.g., imaging tools, ablation tools, biopsy tools, electroporation tools, etc.) that are inserted within the medical instrument 104. [0043] The medical system 100 may include a sensor system 108 with one or more sub- systems for receiving information about the manipulator assembly 102 and/or the medical instrument 104. Such sub-systems may include a position sensor system (e.g., that uses electromagnetic (EM) sensors or other types of sensors that detect position or location); a shape sensor system for determining the position, orientation, speed, velocity, pose, and/or shape of a distal end and/or of one or more segments along a flexible body of the medical instrument 104; a force sensor (e.g., contact sensor, strain gauge, force gauge, torque gauge, load cell, piezoelectric cell) for measuring internal and/or external forces applied to one or more portions of the flexible body of the medical instrument 104; a visualization system (e.g., using a color imaging device, an infrared imaging device, an ultrasound imaging device, an x-ray imaging device, a fluoroscopic imaging device, a computed tomography (CT) imaging device, a magnetic resonance imaging (MRI) imaging device, or some other type of imaging device) for capturing images, such as from the distal end of medical instrument 104 or from some other location; and/or actuator position sensors such as resolvers, encoders, potentiometers, and the like that describe the rotation and/or orientation of the actuators controlling the medical instrument 104. [0044] The medical system 100 may include a display system 110 for displaying an image or representation of the procedural site and the medical instrument 104. Display system 110 and master assembly 106 may be oriented so physician O can control medical instrument 104 and master assembly 106 with the perception of telepresence. [0045] In some embodiments, the medical instrument 104 may include a visualization system, which may include an image capture assembly that records a concurrent or real-time image of a procedural site and provides the image to the operator O through one or more displays of display system 110. The image capture assembly may include various types of imaging devices. The concurrent image may be, for example, a two-dimensional image or a three-dimensional image captured by an endoscope positioned within the anatomical procedural site. In some examples, the visualization system may include endoscopic components that may be integrally or removably coupled to medical instrument 104. Additionally or alternatively, a separate endoscope, attached to a separate manipulator assembly, may be used with medical instrument 104 to image the procedural site. The visualization system may be implemented as hardware, firmware, software or a combination thereof which interact with or are otherwise executed by one or more computer processors, such as of the control system 112. [0046] Display system 110 may also display an image of the procedural site and medical instruments, which may be captured by the visualization system. In some examples, the medical system 100 provides a perception of telepresence to the operator O. For example, images captured by an imaging device at a distal portion of the medical instrument 104 may be presented by the display system 110 to provide the perception of being at the distal portion of the medical instrument 104 to the operator O. The input to the master assembly 106 provided by the operator O may move the distal portion of the medical instrument 104 in a manner that corresponds with the nature of the input (e.g., distal tip turns right when a trackball is rolled to the right) and results in corresponding change to the perspective of the images captured by the imaging device at the distal portion of the medical instrument 104. As such, the perception of telepresence for the operator O is maintained as the medical instrument 104 is moved using the master assembly 106. The operator O can manipulate the medical instrument 104 and hand controls of the master assembly 106 as if viewing the workspace in substantially true presence, simulating the experience of an operator that is physically manipulating the medical instrument 104 from within the patient anatomy. [0047] In some examples, the display system 110 may present virtual images of a procedural site that are created using image data recorded pre-operatively (e.g., prior to the procedure performed by the medical instrument system 200) or intra-operatively (e.g., concurrent with the procedure performed by the medical instrument system 200), such as image data created using computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography (PET), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, and/or the like. The virtual images may include two-dimensional, three-dimensional, or higher-dimensional (e.g., including, for example, time based or velocity-based information) images. In some examples, one or more models are created from pre-operative or intra- operative image data sets and the virtual images are generated using the one or more models. [0048] In some examples, for purposes of imaged guided medical procedures, display system 110 may display a virtual image that is generated based on tracking the location of medical instrument 104. For example, the tracked location of the medical instrument 104 may be registered (e.g., dynamically referenced) with the model generated using the pre-operative or intra-operative images, with different portions of the model correspond with different locations of the patient anatomy. As the medical instrument 104 moves through the patient anatomy, the registration is used to determine portions of the model corresponding with the location and/or perspective of the medical instrument 104 and virtual images are generated using the determined portions of the model. This may be done to present the operator O with virtual images of the internal procedural site from viewpoints of medical instrument 104 that correspond with the tracked locations of the medical instrument 104. [0049] The medical system 100 may also include the control system 112 (i.e., a preexisting control system), which may include processing circuitry that implements the some or all of the methods or functionality discussed herein. The control system 112 may include at least one memory and at least one processor for controlling the operations of the manipulator assembly 102, the medical instrument 104, the master assembly 106, the sensor system 108, and/or the display system 110. Control system 112 may include instructions (e.g., a non- transitory machine-readable medium storing the instructions) that when executed by the at least one processor, configures the one or more processors to implement some or all of the methods or functionality discussed herein. While the control system 112 is shown as a single block in FIG. 1, the control system 112 may include two or more separate data processing circuits with one portion of the processing being performed at the manipulator assembly 102, another portion of the processing being performed at the master assembly 106, and/or the like. In some examples, the control system 112 may include other types of processing circuitry, such as application-specific integrated circuits (ASICs) and/or field-programmable gate array (FPGAs). The control system 112 may be implemented using hardware, firmware, software, or a combination thereof. [0050] In some examples, the control system 112 may receive feedback from the medical instrument 104, such as force and/or torque feedback. Responsive to the feedback, the control system 112 may transmit signals to the master assembly 106. In some examples, the control system 112 may transmit signals instructing one or more actuators of the manipulator assembly 102 to move the medical instrument 104. In some examples, the control system 112 may transmit informational displays regarding the feedback to the display system 110 for presentation or perform other types of actions based on the feedback. [0051] The control system 112 may include a virtual visualization system to provide navigation assistance to operator O when controlling the medical instrument 104 during an image-guided medical procedure. Virtual navigation using the virtual visualization system may be based upon an acquired pre-operative or intra-operative dataset of anatomic passageways of the patient P. The control system 112 or a separate computing device may convert the recorded images, using programmed instructions alone or in combination with operator inputs, into a model of the patient anatomy. The model may include a segmented two- dimensional or three-dimensional composite representation of a partial or an entire anatomic organ or anatomic region. An image data set may be associated with the composite representation. The virtual visualization system may obtain sensor data from the sensor system 108 that is used to compute an (e.g., approximate) location of the medical instrument 104 with respect to the anatomy of patient P. The sensor system 108 may be used to register and display the medical instrument 104 together with the pre-operatively or intra-operatively recorded images. For example, PCT Publication WO 2016/191298 (published December 1, 2016, and titled “Systems and Methods of Registration for Image Guided Surgery”), which is incorporated by reference herein in its entirety, discloses example systems. [0052] During a virtual navigation procedure, the sensor system 108 may be used to compute the (e.g., approximate) location of the medical instrument 104 with respect to the anatomy of patient P. The location can be used to produce both macro-level (e.g., external) tracking images of the anatomy of patient P and virtual internal images of the anatomy of patient P. The system may include one or more electromagnetic (EM) sensors, fiber optic sensors, and/or other sensors to register and display a medical instrument together with pre- operatively recorded medical images. For example, U.S. Patent No. 8,900,131 (filed May 13, 2011, and titled “Medical System Providing Dynamic Registration of a Model of an Anatomic Structure for Image-Guided Surgery”), which is incorporated by reference herein in its entirety, discloses example systems. [0053] Medical system 100 may further include operations and support systems (not shown) such as illumination systems, steering control systems, irrigation systems, and/or suction systems. In some embodiments, the medical system 100 may include more than one manipulator assembly and/or more than one master assembly. The exact number of manipulator assemblies may depend on the medical procedure and space constraints within the procedural room, among other factors. Multiple master assemblies may be co-located or they may be positioned in separate locations. Multiple master assemblies may allow more than one operator to control one or more manipulator assemblies in various combinations. [0054] FIG. 2A is a simplified diagram of a medical instrument system 200 according to some embodiments. [0055] The medical instrument system 200 includes a flexible elongate device 202 (also referred to as elongate device 202), a drive unit 204, and a flexible tool 226 (e.g., a medical tool) that collectively is an example of a medical instrument 104 of a medical system 100. The medical system 100 may be a teleoperated system, a non-teleoperated system, or a hybrid teleoperated and non-teleoperated system, as explained with reference to FIG. 1. A visualization system 231, tracking system 230, tool recognition sensor 233, and navigation system 232 are also shown in FIG. 2A and are example components of the control system 112 of the medical system 100. In some examples, the medical instrument system 200 may be used for non-teleoperational exploratory procedures or in procedures involving traditional manually operated medical instruments, such as endoscopy. The medical instrument system 200 may be used to gather (e.g., measure) a set of data points corresponding to locations within anatomic passageways of a patient, such as patient P. [0056] The elongate device 202 is coupled to the drive unit 204. The elongate device 202 includes a channel or lumen 221 through which a flexible tool 226 may be inserted. The elongate device 202 navigates within patient anatomy to deliver the medical tool 226 to a procedural site. The elongate device 202 includes a flexible body 216 having a proximal end 217 and a distal end 218. In some examples, the flexible body 216 may have an approximately 3 mm outer diameter. Other flexible body outer diameters may be larger or smaller. [0057] Medical instrument system 200 may include the tracking system 230 for determining the position, orientation, speed, velocity, pose, and/or shape of the flexible body 216 at the distal end 218 and/or of one or more segments 224 along flexible body 216, as will be described in further detail below. The tracking system 230 may include one or more sensors and/or imaging devices. The flexible body 216, such as the length between the distal end 218 and the proximal end 217, may include multiple segments 224. The tracking system 230 may be implemented using hardware, firmware, software, or a combination thereof. In some examples, the tracking system 230 is part of control system 112 shown in FIG. 1. [0058] Tracking system 230 may track the distal end 218 and/or one or more of the segments 224 of the flexible body 216 using a shape sensor 222. The shape sensor 222 may include an optical fiber aligned with the flexible body 216 (e.g., provided within an interior channel of the flexible body 216 or mounted externally along the flexible body 216). In some examples, the optical fiber may have a diameter of approximately 200 μm. In other examples, the diameter may be larger or smaller. The optical fiber of the shape sensor 222 may form a fiber optic bend sensor for determining the shape of flexible body 216. Optical fibers including Fiber Bragg Gratings (FBGs) may be used to provide strain measurements in structures in one or more dimensions. Various systems and methods for monitoring the shape and relative position of an optical fiber in three dimensions, which may be applicable in some embodiments, are described in U.S. Patent Application Publication No. 2006/0013523 (filed July 13, 2005 and titled “Fiber optic position and shape sensing device and method relating thereto”); U.S. Patent No. 7,772,541 (filed on March 12, 2008 and titled “Fiber Optic Position and/or Shape Sensing Based on Rayleigh Scatter”); and U.S. Patent No. 8,773,650 (filed on Sept. 2, 2010 and titled “Optical Position and/or Shape Sensing”), which are all incorporated by reference herein in their entireties. Sensors in some embodiments may employ other suitable strain sensing techniques, such as Rayleigh scattering, Raman scattering, Brillouin scattering, and Fluorescence scattering. [0059] In some examples, the shape of the flexible body 216 may be determined using other techniques. For example, a history of the position and/or pose of the distal end 218 of the flexible body 216 can be used to reconstruct the shape of flexible body 216 over an interval of time (e.g., as the flexible body 216 is advanced or retracted within a patient anatomy). In some examples, the tracking system 230 may alternatively and/or additionally track the distal end 218 of the flexible body 216 using a position sensor system 220. Position sensor system 220 may be a component of an EM sensor system with the position sensor system 220 including one or more position sensors. Although the position sensor system 220 is shown as being near the distal end 218 of the flexible body 216 to track the distal end 218, the number and location of the position sensors of the position sensor system 220 may vary to track different regions along the flexible body 216. In one example, the position sensors include conductive coils that may be subjected to an externally generated electromagnetic field. Each coil of position sensor system 220 may produce an induced electrical signal having characteristics that depend on the position and orientation of the coil relative to the externally generated electromagnetic field. The position sensor system 220 may measure one or more position coordinates and/or one or more orientation angles associated with one or more portions of flexible body 216. In some examples, the position sensor system 220 may be configured and positioned to measure six degrees of freedom, e.g., three position coordinates X, Y, Z and three orientation angles indicating pitch, yaw, and roll of a base point. In some examples, the position sensor system 220 may be configured and positioned to measure five degrees of freedom, e.g., three position coordinates X, Y, Z and two orientation angles indicating pitch and yaw of a base point. Further description of a position sensor system, which may be applicable in some embodiments, is provided in U.S. Patent No. 6,380,732 (filed August 11, 1999, and titled “Six-Degree of Freedom Tracking System Having a Passive Transponder on the Object Being Tracked”), which is incorporated by reference herein in its entirety. [0060] In some embodiments, the tracking system 230 may alternately and/or additionally rely on a collection of pose, position, and/or orientation data stored for a point of an elongate device 202 and/or medical tool 226 captured during one or more cycles of alternating motion, such as breathing. This stored data may be used to develop shape information about the flexible body 216. In some examples, a series of position sensors (not shown), such as EM sensors like the sensors in position sensor system 220 or some other type of position sensors may be positioned along the flexible body 216 and used for shape sensing. In some examples, a history of data from one or more of these position sensors taken during a procedure may be used to represent the shape of elongate device 202, particularly if an anatomic passageway is generally static. [0061] FIG. 2B is a simplified diagram of the flexible tool 226 within the elongate device 202 according to some embodiments. [0062] The flexible body 216 of the elongate device 202 may include the lumen 221 sized and shaped to receive the flexible tool 226. In some embodiments, the flexible tool 226 may be used for procedures such as diagnostics, imaging, surgery, biopsy, ablation, illumination, irrigation, suction, electroporation, etc. Flexible tool 226 can be deployed through channel or lumen 221 of flexible body 216 and operated at a procedural site within the anatomy. Flexible tool 226 may be, for example, an image capture probe, a biopsy tool (e.g., a needle, grasper, brush, etc.), an ablation tool (e.g., a laser ablation tool, radio frequency (RF) ablation tool, cryoablation tool, thermal ablation tool, heated liquid ablation tool, etc.), an electroporation tool, and/or another surgical, diagnostic, or therapeutic tool. In some examples, the flexible tool 226 may include an end effector having a single working member such as a scalpel, a blunt blade, an optical fiber, an electrode, and/or the like. Other end types of end effectors may include, for example, forceps, graspers, scissors, staplers, clip appliers, and/or the like. Other end effectors may further include electrically activated end effectors such as electrosurgical electrodes, transducers, sensors, and/or the like. [0063] The flexible tool 226 may be a biopsy tool used to remove sample tissue or a sampling of cells from a target anatomic location. In some examples, the biopsy tool is a flexible needle. The biopsy tool may further include a sheath that can surround the flexible needle to protect the needle and interior surface of the lumen 221 when the biopsy tool is within the lumen 221. The flexible tool 226 may be an image capture probe that includes a distal portion with a stereoscopic or monoscopic camera that may be placed at or near the distal end 218 of flexible body 216 for capturing images (e.g., still or video images). The captured images may be processed by the visualization system 231 for display and/or provided to the tracking system 230 to support tracking of the distal end 218 of the flexible body 216 and/or one or more of the segments 224 of the flexible body 216. The image capture probe may include a cable for transmitting the captured image data that is coupled to an imaging device at the distal portion of the image capture probe. In some examples, the image capture probe may include a fiber-optic bundle, such as a fiberscope, that couples to a more proximal imaging device of the visualization system 231. The image capture probe may be single-spectral or multi-spectral, for example, capturing image data in one or more of the visible, near-infrared, infrared, and/or ultraviolet spectrums. The image capture probe may also include one or more light emitters that provide illumination to facilitate image capture. In some examples, the image capture probe may use ultrasound, x-ray, fluoroscopy, CT, MRI, or other types of imaging technology. [0064] In some examples, the image capture probe is inserted within the flexible body 216 of the elongate device 202 to facilitate visual navigation of the elongate device 202 to a procedural site and then is replaced within the flexible body 216 with another type of medical tool 226 that performs the procedure. In some examples, the image capture probe may be within the flexible body 216 of the elongate device 202 along with another type of flexible tool 226 to facilitate simultaneous image capture and tissue intervention, such as within the same lumen 221 or in separate channels. A flexible tool 226 may be advanced from the opening of the lumen 221 to perform the procedure (or some other functionality) and then retracted back into the lumen 221 when the procedure is complete. The flexible tool 226 may be removed from the proximal end 217 of the flexible body 216 or from another optional instrument port (not shown) along flexible body 216. [0065] In some examples, the elongate device 202 may include integrated imaging capability rather than utilize a removable image capture probe. For example, the imaging device (or fiber-optic bundle) and the light emitters may be located at the distal end 218 of the elongate device 202. The flexible body 216 may include one or more dedicated channels that carry the cable(s) and/or optical fiber(s) between the distal end 218 and the visualization system 231. Here, the medical instrument system 200 can perform simultaneous imaging and tool operations. [0066] In some examples, the medical tool 226 is capable of controllable articulation. The medical tool 226 may house cables (which may also be referred to as pull wires), linkages, or other actuation controls (not shown) that extend between its proximal and distal ends to controllably bend the distal end of medical tool 226, such as discussed herein for the elongate device 202. The medical tool 226 may be coupled to a drive unit 204 and the manipulator assembly 102. In these examples, the elongate device 202 may be excluded from the medical instrument system 200 or may be a flexible device that does not have controllable articulation. Steerable instruments or tools, applicable in some embodiments, are further described in detail in U.S. Patent No.7,316,681 (filed on Oct.4, 2005, and titled “Articulated Surgical Instrument for Performing Minimally Invasive Surgery with Enhanced Dexterity and Sensitivity”) and U.S. Patent No.9,259,274 (filed Sept.30, 2008, and titled “Passive Preload and Capstan Drive for Surgical Instruments”), which are incorporated by reference herein in their entireties. [0067] The flexible body 216 of the elongate device 202 may also or alternatively house cables, linkages, or other steering controls (not shown) that extend between the drive unit 204 and the distal end 218 to controllably bend the distal end 218 as shown, for example, by broken dashed line depictions 219 of the distal end 218 in FIG. 2A. In some examples, at least four cables are used to provide independent up-down steering to control a pitch of the distal end 218 and left-right steering to control a yaw of the distal end 281. In these examples, the elongate device 202 may be a steerable catheter. Examples of steerable catheters, applicable in some embodiments, are described in detail in PCT Publication WO 2019/018736 (published Jan.24, 2019, and titled “Flexible Elongate Device Systems and Methods”), which is incorporated by reference herein in its entirety. [0068] In embodiments where the elongate device 202 and/or medical tool 226 are actuated by a teleoperational assembly (e.g., the manipulator assembly 102), the drive unit 204 may include drive inputs that removably couple to and receive power from drive elements, such as actuators, of the teleoperational assembly. The drive unit 204 may further include brakes. One brake may be paired with one actuator. In configurations that pair an actuator with a gear reducer, the brake may be located on the actuator side, which enables even a relatively small brake to produce a significant braking force. In some examples, the elongate device 202 and/or medical tool 226 may include gripping features, manual actuators, or other components for manually controlling the motion of the elongate device 202 and/or medical tool 226. The elongate device 202 may be steerable or, alternatively, the elongate device 202 may be non-steerable with no integrated mechanism for operator control of the bending of distal end 218. In some examples, one or more channels 221 (which may also be referred to as lumens), through which medical tools 226 can be deployed and used at a target anatomical location, may be defined by the interior walls of the flexible body 216 of the elongate device 202. [0069] In some examples, the medical instrument system 200 (e.g., the elongate device 202 or medical tool 226) may include a flexible bronchial instrument, such as a bronchoscope or bronchial catheter, for use in examination, diagnosis, biopsy, and/or treatment of a lung. The medical instrument system 200 may also be suited for navigation and treatment of other tissues, via natural or surgically created connected passageways, in any of a variety of anatomic systems, including the colon, the intestines, the kidneys and kidney calices, the brain, the heart, the circulatory system including vasculature, and/or the like. [0070] The information from the tracking system 230 may be sent to the navigation system 232, where the information may be combined with information from the visualization system 231 and/or pre-operatively obtained models to provide the physician, clinician, surgeon, or other operator with real-time position information. In some examples, the real-time position information may be displayed on the display system 110 for use in the control of the medical instrument system 200. In some examples, the navigation system 232 may utilize the position information (e.g., from position sensors) and/or other information from the sensor system (e.g., force sensors) as feedback for positioning medical instrument system 200. Various systems for using fiber optic sensors to register and display a surgical instrument with surgical images, applicable in some embodiments, are provided in U.S. Patent No. 8,900,131 (filed May 13, 2011, and titled “Medical System Providing Dynamic Registration of a Model of an Anatomic Structure for Image-Guided Surgery”), which is incorporated by reference herein in its entirety. [0071] FIG. 3A is a simplified diagram of a side view of a patient coordinate space including a medical instrument 304 according to some embodiments. [0072] As shown in FIGs. 3A and 3B, a surgical environment may include a patient P positioned on the patient table T. Patient P may be stationary within the surgical environment in the sense that gross patient movement is limited by sedation, restraint, and/or other means. Cyclic anatomic motion, including respiration and cardiac motion, of patient P may continue. Within surgical environment, a medical system 300 (e.g., an embodiment of medical system 100) is used to perform a medical procedure which may include, for example, surgery, biopsy, ablation, illumination, irrigation, suction, or electroporation. A medical instrument 304 may also be used to perform other types of procedures, such as a registration procedure to associate the position, orientation, and/or pose data captured by the sensor system 108 to a desired (e.g., anatomical or system) reference frame. The medical instrument 304 may be, for example, the medical instrument 104. In some examples, the medical instrument 304 may include an elongate device 310 (e.g., a catheter) coupled to an instrument body 312. Elongate device 310 includes one or more channels (e.g., cannulas) sized and shaped to receive a medical tool. [0073] Elongate device 310 may house cables, linkages, or other steering controls that extend between a proximal end portion 316 of the elongate device 310 (e.g., at the instrument body 312) and a distal end portion 318 of the elongate device 310 to controllably bend the distal end portion 318. In some examples, at least four cables are used to provide independent up-down steering to control a pitch of distal end portion 318 and left-right steering to control a yaw of distal end portion 318. The instrument body 312 may include drive inputs that removably couple to and receive power from drive elements, such as actuators, of a manipulator assembly. [0074] The instrument body 312 may be coupled to an instrument carriage 306. The instrument carriage 306 may be mounted to an insertion stage 308 that is fixed within the surgical environment. Alternatively, the insertion stage 308 may be movable but have a known location (e.g., via a tracking sensor or other tracking device) within the surgical environment. Instrument carriage 306 may be a component of a manipulator assembly (e.g., manipulator assembly 102) that couples to the medical instrument 304 to control insertion motion (e.g., motion along an insertion axis A) and/or motion of the distal end portion 318 of the elongate device 310 in multiple directions, such as yaw, pitch, and/or roll, and/or roll of the elongate device 310 about a roll axis of the elongate device, where the roll axis is a longitudinal axis of the elongate device. In some embodiments, the roll axis may be the insertion axis. The instrument carriage 306 or insertion stage 308 may include actuators, such as servomotors, that control motion of instrument carriage 306 along the insertion stage 308. The instrument carriage 306 or insertion stage 308 may further include brakes. One brake may be paired with one actuator. For example, an actuator may be provided for driving the medical instrument along the insertion axis of the manipulator assembly, and a brake may be provided for inhibiting movement of the medical instrument along the insertion axis. For example, an actuator may be provided for driving the medical instrument about the roll axis, such as rolling the elongate device 310 in a clockwise or anticlockwise direction about the roll axis or insertion axis, and a brake may be provided for inhibiting roll movement of the medical instrument about the roll axis (or insertion axis). [0075] Medical system 300 may also include one or more sensors (e.g., components of the sensor system 108) that include: a proximal sensor 320 configured to generate proximal position information of a proximal portion (e.g., the proximal end portion 316) of the elongate device 310; and a distal sensor 322 configured to generate distal position information of a distal portion (e.g., the distal end portion 318) of the elongate device 310. [0076] The proximal sensor 320, which may be a component of the sensor system 108, may provide information about the position of the instrument body 312 as it moves relative to the insertion stage 308 along the insertion axis A. The proximal sensor 320 may include one or more resolvers, encoders, potentiometers, and/or other sensors that measure the rotation and/or orientation of the actuators controlling the motion of the instrument carriage 306, thus indicating the motion of the instrument body 312. In some embodiments, the insertion stage 308 has a linear track, as shown in FIG. 3A, a curved track, or have a combination of curved and linear track sections to move the flexible elongate device along an insertion axis A. The proximal sensor 320 may detect movement of the flexible elongate device along the insertion axis A. [0077] The distal sensor 322, which may be a component of the sensor system 108, may provide information about a portion of the elongate device 310 as it moves relative to the instrument body 312. [0078] In some embodiments, the distal sensor 322 may provide information about a portion or the entirety of the elongate device 310. For example, the distal sensor 322 may include a shape sensor 314 that extends from the proximal end portion 316 of the elongate device 310 (e.g., at the instrument body 312). The shape sensor 314 may measure a shape from a fixed point of the proximal end portion 316 to another point, such as a distal end portion 318 of the elongate device 310. The shape sensor 314 may be aligned with the elongate device 310 (e.g., provided within an interior channel or mounted externally). A proximal end of the shape sensor 314 may be movable with the instrument body 312. Furthermore, the location of the proximal end of the shape sensor 314 may be determined with respect to a desired reference frame (e.g., relative to a body of the medical system 100, with respect to the Table T) via a tracking sensor or other tracking device. In some examples, the shape sensor 314 may be optical fibers used to generate shape information for the elongate device 310. [0079] In some embodiments, the distal sensor 322 may include one or more position sensors (e.g., EM sensors) may be incorporated into the elongate device 310 and/or the medical instrument 304. A series of position sensors may be positioned along a length of the elongate device 310 and used for shape sensing. Position sensors may be used alternatively to the shape sensor 314 or with the shape sensor 314, such as to improve the accuracy of shape sensing or to verify shape information. In some embodiments, one or more position sensors may be coupled with a processor that reconstructs a shape of the elongate device 310 based on movement of the one or more position sensors (e.g., inertial localization). For example, a position sensor disposed on the distal end portion 318 of the elongate device 310 may move through a given coordinate system with the movements of the elongate device 310, the shape of which may be determines based on the positional information of the distal end portion over time. In other words, a processor coupled to the distal sensor 322 may be used to reconstruct a shape of the elongate device 310 based on movement of the distal sensor 322 at the distal end portion of the elongate device 310. [0080] In some embodiments, the distal sensor 322 may include an imaging sensor that images the elongate device 310 (e.g., physically separated from the elongate device 310, exterior to the patient). For example, the distal sensor 322 may include a fluoroscopy device 322’ that images the elongate device 310. [0081] In some embodiments, the distal sensor 322 may be an imaging sensor disposed on the elongate device 310 (e.g., an endoscope). A processor coupled to the imaging sensor may reconstruct a shape of the elongate device 310 based on imagery from the imaging sensor. For example, as the distal end portion of the elongate device navigates an insertion region, the processor may determine distal position information based on landmarks within the insertion region. In some embodiments, images may be used in combination with a map or other imagery of the insertion region (e.g., fluoroscopy images). Alternatively, the images and determined distal position information may be used to generate a map of an insertion region. [0082] In some embodiments, the sensor system 108 include a plurality of different sensors that are collectively used to determine positional and/or shape information of the elongate device 310. For example, the proximal sensor 320 maybe is a first type of sensor, the distal sensor 322 may be a second type of sensor different from the first type of sensor, and a computing device of the medical system 300 or sensor system 108 is configured to combine and relate information from the different types of sensors. For example, proximal position information from a proximal sensor 320 and distal position information from a distal sensor 322 may be related based on one or more equations (e.g., coordinate transformation equations, matrices, kinematic transformation based on geometry of the manipulator assembly) to obtain positional and/or shape information of the elongate device 310. [0083] While FIGs. 3A-3B show the proximal sensor 320 and the distal sensor 322 at respective ends of the elongate device 310, it will be appreciated that the proximal sensor 320 and the distal sensor 322 may be located at any spatially separated locations of the elongate device 310. For example, the proximal sensor 320 may be located in a more distal position (e.g., in a center portion of the elongate device 310) and, likewise, the distal sensor 322 may be located at a more proximal location (e.g., not at the distal tip portion of the elongate device 310) than shown in FIGs.3A-3B. In some cases, the proximal sensor 320 and the distal sensor 322 may be portions of a same sensor device (e.g., a fiber sensor) that are at least partially separated along the length of the elongate device 310. For example, the proximal sensor and the distal sensor may be a proximal portion and a distal portion of a shape sensor, respectively. [0084] The following are non-limiting examples according to one or more embodiments: (1) a proximal sensor 320 that is an encoder near the instrument carriage 306 or insertion stage 308 and a distal sensor 322 comprising a distal portion of a shape sensor 314 (e.g., proximal position information indicating insertion/retraction position of the manipulator assembly, distal position information indicating a tip position of the elongate device 310); (2) a proximal sensor 320 comprising a proximal portion of a shape sensor 314 and a distal sensor 322 comprising a distal portion of the shape sensor 314 (e.g., proximal and distal position information indicating a position/pose of the respective portions of the elongate device 310); (3) a proximal sensor 320 that is a position sensor that is spatially separated from a distal position sensor 322 (e.g., proximal and distal position information indicating locations of the respective portions of the elongate device 310); (4) a proximal sensor 320 that is an encoder near the instrument carriage 306 or insertion stage 308 and a distal sensor 322 comprising an external imaging device (e.g., radioscopic imager) that images the distal portion of the elongate device 310; (5) a proximal sensor 320 that is an encoder near the instrument carriage 306 or insertion stage 308 and a distal sensor 322 comprising an imaging device (e.g., a camera, an endoscope) disposed at a distal tip portion of the elongate device 310 (e.g., proximal position information indicating insertion/retraction position of the manipulator assembly, distal position information determined based on imagery from the imaging device). [0085] The examples described and shown herein are non-limiting and provided for illustrative purposes only. Any proximal sensor among the non-limiting examples and any distal sensor among the non-limiting examples may be combined. Furthermore, it will be appreciated that various combinations of proximal and distal sensors not explicated described herein may be utilized in embodiments of the present invention. [0086] FIG. 3A shows the instrument body 312 and the instrument carriage 306 in a retracted position along the insertion stage 308. In this retracted position, the fixed point of the proximal end portion 316 is at a position L0 on the insertion axis A. The location of the fixed point of the proximal end portion 316 may be set to a zero value and/or other reference value to provide a base reference (e.g., corresponding to the origin of a desired reference frame) to describe the position of the instrument carriage 306 along the insertion stage 308. In the retracted position, the distal end portion 318 of the elongate device 310 may be positioned just inside an entry orifice of patient P. Also in the retracted position, the data captured by the proximal sensor 320 may be set to a zero value and/or other reference value. [0087] FIG. 3B is a simplified diagram of a side view of a patient coordinate space including a medical instrument 304 with an additional degree of freedom according to some embodiments. [0088] In FIG. 3B, the instrument body 312 and the instrument carriage 306 are shown in an advanced position along the insertion stage 308. In other words, relative to FIG. 3A, the instrument body 312 and the instrument carriage 306 have advanced along the linear track of insertion stage 308. Accordingly, the distal end portion 318 of the elongate device 310 has advanced into patient P. In this advanced position, the fixed point of the proximal end portion 316 is at a position L1 on the insertion axis A. In some examples, the rotation and/or orientation of the actuators measured by the proximal sensor 320 indicating movement of the instrument carriage 306 along the insertion stage 308 and/or one or more position sensors associated with instrument carriage 306 and/or the insertion stage 308 may be used to determine the position L1 of a proximal point relative to the position L0. In some examples, the position L1 may further be used as an indicator of the distance or insertion depth to which the distal end portion 318 of the elongate device 310 is inserted into the passageway(s) of the anatomy of patient P. [0089] External forces exerted on the elongate device 310 during a procedure may cause buckling (i.e., formation of a prolapse in a portion of the flexible body 216) and unintentional movements (e.g., an intentional movement command by an operator being distorted by the buckled state, sudden unintended movement cause by a resolution of the buckled state), as described in further detail below with respect to FIGs.4A-4C. To reduce the occurrence or severity of unintended motion, it may be beneficial to identify the occurrence and/or resolution of the buckled state of the elongate device 310. For example, in some embodiments, algorithmic behavior of the medical system 100 that controls the elongate device 310 may be modified to reduce the occurrence or severity of unintended motion. [0090] FIGs. 4A-4C and FIGs. 10A-10B show configurations of an elongate device 310. FIGs. 4A-4C describe a medical procedure performed inside a lung 410 of the patient P. FIGs 10A-10B describe a medical procedure performed inside part of a gastrointestinal tract 420 of the patient P, where the gastrointestinal tract is the tract or passageway of the digestive system that leads from the mouth to the anus. However, it will be appreciated that detection of a buckled state and/or a resolution of the buckled state may be performed in any procedure using an elongate device 310, including non-medical procedures. [0091] FIG.4A shows a simplified diagram of a medical system 100 during a procedure inside a lung 410 of the patient P. In some examples, the medical system 100 includes a medical tool 226 attached to the distal end portion 318 of the elongate device 310 in the form of a flexible bronchial instrument, such as a bronchoscope or bronchial catheter, for use in examination, diagnosis, biopsy, and/or treatment of a target site 412 with the lung 410. The elongate device 310 is inserted through the trachea and directed through various passages (e.g., bronchia, bronchioles) to access the target site 412. As shown in FIG. 4A, to access the target site 412, the elongate device 310 must be manipulated to traverse a first passageway 414. [0092] As shown in FIG. 4B, buckling of a portion of the elongate device 310 may occur during the insertion procedure to access the target site 412. Buckling may occur for several different reasons (e.g., insertion while constrained by the anatomy, such as contact with an airway wall, insertion around a tight bend, etc.). While FIG. 4B shows an exaggerated buckling of the elongate device 310 as a tight, localized prolapse that extends into the opposite primary bronchus of the lung 410 from the target site 412, buckling of the elongate device 310 may present as other deformations of the expected geometry. For example, buckling may present as a deflection of the overall elongate device 310 (e.g., a flexible portion of the elongate device 310 that is proximal to the articulating tip) from the intended pathway through the lung 410 (not shown). [0093] Because a buckled state may present as different types of unintended deformation in the elongate device 310, a sensor system 108 of the medical system 100 may include multiple types of sensors to identify different situations. In some embodiments, the sensor system 108 may be configured to perform a differential measurement based on positional information from at least two spatially separated sensors 320, 322. In some embodiments, the sensor system 108 may be configured with a shape sensor 314 to directly detect curvature indicative of buckling. In general, the medical system 100 may include a sensor system 108 equipped with one or more sensors 314, 320, 322 that may be used to identify a buckled state of the elongate device 310. [0094] In FIG. 4C, resolution of the buckled state of the elongate device 310 results in unintended motion. For example, during the insertion procedure to access the target site 412, resolution of the buckled state show in FIG. 4B may result in the distal end portion 318 of the elongate device 310 driving into a second passageway 416 of the lung 410, which does not lead to the target site 412. While FIG. 4C shows the resolution of the buckled state causing the elongate device 310 to move into the incorrect passageway 416, resolution of the buckled state of the elongate device 310 may present as other unintended movement (e.g., advancing of the medical tool 226 attached to the elongate device 310 faster or farther than intended, an additional reflexive a movement by the operator to compensate). [0095] It will be clear to a person of ordinary skill in the art that the buckling shown with respect to FIGs.4A-4C may occur during other procedures. For example, FIG.10A shows a simplified diagram of a flexible elongate device 310 during a procedure inside a gastrointestinal tract 420 of the patient P. In FIG. 10A, the elongate device 310 is inserted through the esophagus 420a and directed through various passageways of the gastrointestinal tract 420, including the stomach 420b, and the large intestine 420c to access the target site 430. It will be clear to a person of ordinary skill in the art that the elongate device 310 may be passed into the passageways of other parts of the gastrointestinal tract such as the large intestine or rectum. As shown in FIG.10B, buckling (or bending) of a portion of the elongate device 310 may occur during the insertion procedure to access the target site (not shown). As discussed previously, bending or buckling may occur for several different reasons (e.g., insertion while constrained by the anatomy, such as contact with a passageway wall, insertion around a tight bend, etc.). While FIG. 10B shows a particular bend geometry, it will be clear to a person of ordinary skill in the art that alternative bending shapes and geometry may occur, as described previously. FIGs. 10A and 10D are described further below. [0096] Similar to above, because a buckled state of the elongate device 310 may present as different types of unintended deformation, the resolution of the buckled state may also present as different types of unintended movement in the elongate device 310. Accordingly, a sensor system 108 of the medical system 100 may include multiple types of sensors to identify different situations. In some embodiments, the sensor system 108 may be configured to perform a differential measurement based on positional information from at least two spatially separated sensors 320, 322. In some embodiments, the sensor system 108 may be configured with a shape sensor 314 to directly detect curvature indicative of buckling. In general, the medical system 100 may include a sensor system 108 equipped with one or more sensors 314, 320, 322 that may be used to identify a resolution of the buckled state of the elongate device 310. [0097] Resolution of the buckled state may be intended (intentional) or unintended (unintentional). An intended resolution of the buckled state occurs because of an input command. An unintended resolution of the buckled state may occur for one or more different reasons (e.g., released constraint of the anatomy, such as internal movement of the patient P, additional driving force provided by manipulator assembly 102, stiffness change due to insertion of an external tool (e.g., medical instrument 104) through a working channel of the device (e.g., cannula of an endoscope)). Embodiments of the present invention are directed to detecting and/or acting upon unintentional resolution or intentional resolution of the buckled state. Based on whether the resolution of the buckled state is unintentional or intentional, the control algorithms of the elongate device may be modified in different ways to avoid or reduce unintended motion. [0098] For example, in response to an intentional resolution of the buckled state caused by an input command for an insertion movement (i.e., apply driving force to move the elongate device), the elongate device 310 may be retracted upon detection of the intended resolution. The amount of retraction may be less than, equal to, or greater than the insertion movement distance to at least partially offset any sudden movement caused by the intended resolution of the buckled state. In other words, the command transmitted to the manipulator assembly to control the flexible elongate device may be based upon the input command. In some embodiments, the command transmitted to the manipulator assembly to control the flexible elongate device may not directly depend upon the input command (e.g., preset value based on user input, a procedure/anatomy, a value determined based on information from the sensor system). [0099] In an alternate example of an unintentional resolution of the buckled state (e.g., no input command, no intentionally applied driving force on the elongate device), the elongate device 310 may be commanded to perform a similar retraction upon detection of the resolution of the buckled state. The amount of retraction may be a preset value based on user input, a procedure/anatomy, a value determined based on information from the sensor system. [00100] As discussed below with respect to FIGs. 5A-7E, in some embodiments, the medical system 100 monitors a distal sensor 322 and a proximal sensor 320 to identify a buckled state and/or a resolution of the buckled state. In general, a distal sensor 322 and a proximal sensor 320 are spatially separated along the flexible elongate device 310 such that a discrepancy in measured motion between the two sensors 320, 322 can be used to identify onset or termination of the buckled state (e.g., the proximal sensor 320 measuring movement but distal sensor 322 not measuring movement may indicate a buckled state in flexible elongate device 310 somewhere between the positions measured by the proximal and distal sensors 320, 322). [00101] Based on information from the distal sensor 322 and the proximal sensor 320, the medical system 100 may determine an overall shape or pose of the entire flexible elongate device 310 or a specific region in which buckling is more likely to occur. In some embodiments, the buckled state or the resolution of the buckled state may be identified by monitoring a maximum curvature in the overall shape of the flexible elongate device 310. Alternatively, or in addition, the sensors may be configured to determine position and/or orientation information for a proximal end portion 316 or a distal end portion 318 of the flexible elongate device 310. For example, the proximal sensor 320 may be an encoder that detects the movement of the flexible elongate device 310 along an insertion axis A caused by the manipulator assembly 102. By tracking movement of the distal end portion 318 of the flexible elongate device 310, the buckled state or the resolution of the buckled state may be identified by comparing an accumulation of movement (i.e., change in position/orientation data) at the proximal or distal end portions 316, 318 of the flexible elongate device 310. In some embodiments, the medical system 100 may compare an insertion position at the proximal end portion 316 of the flexible elongate device 310 to a distal tip position at the distal end portion 318 of the flexible elongate device 310. In some embodiments, detection of the buckled state or the resolution of the buckled state may be based on any combination of curvature, insertion position, and/or distal tip position. [00102] In some embodiments, the medical system 100 responds to the detection of the buckled state or the resolution of the buckled state by providing an indication or transmitting a command to the manipulator assembly 102 to control the flexible elongate device 310. For example, the medical system 100 may notify the user of the buckled state or the resolution of the buckled state to encourage more caution in operating the medical system 100. Alternatively, or in addition, the medical system 100 may implement one or more algorithms to reduce the occurrence or severity of unintended motion. For example, the medical system 100 may modify the motion commands of the flexible elongate device 310 to prevent unintended motion (e.g., disabling one or more of the manipulator assembly 102 and flexible elongate device 310, changing a setting of the control system 112, commanding the flexible elongate device 310 to stop or go limp). In some embodiments, the medical system 100 may attempt to resolve the buckled state (e.g., jostling the flexible elongate device 310, dithering movement commands). In some embodiments, the medical system 100 may attempt to counteract the resolution of the buckled state by automatically retracting the flexible elongate device 310 (e.g., to prevent crashing of the distal end portion 318 of the flexible elongate device 310). [00103] Various methods that enable identification and/or resolution of the buckled state of a flexible elongate device are subsequently described with respect to FIGs. 7A-7E. Specifically, FIGs.5A and 5B outline method for identifying resolution of the buckled state of a flexible elongate device with or without an initial identification of the buckled state of the flexible elongate device. FIGs. 6A-6E outline methods for identifying a buckled state of a flexible elongate device based on various sensor configurations. Depending on the number and type of sensors used by a sensor system of the medical system, different methods from FIGs. 6A-6E may be combined to identify the buckled state of the flexible elongate device. FIGs.7A-7E outline methods for identifying resolution of a buckled state of a flexible elongate device based on various sensor configurations. Similar to FIGs. 6A-6E, depending on the number and type of sensors used by a sensor system of the medical system, different methods from FIGs. 7A-7E may be combined to identify the resolution of the buckled state of the flexible elongate device. [00104] FIGs. 5A-5B show methods 500, 500’ according to some embodiments. [00105] In FIG. 5A, the control system 112 is configured to identify the resolution of the buckled state based on a prior identification of the buckled state. For example, the prior identification of the buckled state may be based on the proximal position information and/or the distal position information from the sensor system 108 and resolution of the buckled state may be determined by a change in the proximal position information and/or the distal position information from the buckled state. Each of the processes is described in further detail below. [00106] At 505, the control system 112 identifies a buckled state in the elongate device 310. In some embodiments, the control system 112 identifies the buckled state based on proximal position information and distal position information obtained from a proximal sensor 320 and a distal sensor 322, respectively, of the medical system 100. Various embodiments are described below with respect to FIGs. 6A-6E. [00107] At 510, the control system 112 provides an indication of the buckled state and/or transmits a command to the manipulator assembly 102 to control the elongate device 310. [00108] In some embodiments, where the medical system 100 includes a display system 110 (e.g., one or more displays, a stereoscopic display, a remote display), the control system 112 may be configured to provide the indication of the buckled state on a display of the display system 110. The visual indication on the display may include information about the buckled state (e.g., location, intensity) based on the proximal position information and the distal position information. In some embodiments, where the medical system 100 includes an audio system (e.g., a speaker, an alert, a buzzer), the indication may include an audio indication. [00109] In some embodiments, the control system 112 may be configured to respond with a contextual response based on a type of procedure that is in progress when the buckled state is identified. For example, procedures may be categorized based on a number or type of operations to be performed by the flexible elongate device. Different algorithmic behaviors may enabled/disabled in the medical system 100 based on the category of the procedure. Accordingly, in response to identification of the buckled state, the control system 112 may modify or execute an algorithmic behavior that is specific to the current type of procedure. [00110] In other words, the control system 112 may be configured to determine whether a first procedure (i.e., a procedure of a first category) is in progress after identifying the buckled state. Upon determining that the first procedure is in progress, the control system 112 may be configured to transmit a procedure command (i.e., a command corresponding to the first procedure), and upon determining that the first procedure is not in progress, the control system is configured to not transmit the procedure command. In some embodiments, the first procedure may include a planned trajectory that includes an intentional and/or temporary buckled state. Therefore, a corresponding procedure command may cause no effect upon identifying the buckled state (e.g., ignore the buckled state, allow a prolapse to occur during the first procedure). In some embodiments, the procedure command may include a notification (e.g., audio/visual/tactile). [00111] In some embodiments, a first category of procedures may include a medical tool (e.g., a biopsy tool, vision probe, ablation tool, electroporation tool, resection tool, irrigation tool, etc.) and the control system 112 may be configured with various algorithms to control and utilize the medical tool. However, during the buckled state, the elongate device 310 may be restricted, in the incorrect position, or otherwise in a configuration that may compromise or limit use of the medical tool. Accordingly, in some embodiments, the procedure command may disable the medical tool (e.g., disable algorithms associated with the medical tool, lock a position of the medical tool, make the medical tool go limp). [00112] In some embodiments, another category (i.e., an alternative first category) of procedures may include modifying the manipulator assembly 102. During the buckled state, the elongate device 310 may be restricted, in the incorrect position, or otherwise in a configuration that may compromise an attempt to modify the manipulator assembly 102. For example, insertion of a tool through a canula of the elongate device 310 may damage the tool or the elongate device 310 if an excessive amount of curvature exists at the buckled section. Accordingly, in some embodiments, the procedure command may block user motion of the manipulator assembly 102, provide an indication (e.g., visual, audio), or any combination thereof. [00113] In some embodiments, the first procedure may include any procedure that is performed without an imaging instrument (e.g., a vision probe, an endoscope) installed on the medical system 100. During the buckled state, the elongate device 310 may be in the incorrect position and the procedure would be untenable to proceed without visual confirmation from an imaging instrument (e.g., an endoscope disposed at the distal tip portion of the elongate device) to confirm accurate positioning. Accordingly, in some embodiments, the procedure command may block user motion of the manipulator assembly 102, provide an indication (e.g., visual, audio) to stop the first procedure, disable algorithms associated with the first procedure, or any combination thereof. [00114] In some embodiments, another category (i.e., an alternative first category) of procedures may include modifying the manipulator assembly 102. During the buckled state, the elongate device 310 may be restricted, in the incorrect position, or otherwise in a configuration that may comprise an attempt to modify the manipulator assembly 102. For example, insertion of a tool through a canula of the elongate device 310 may damage the tool or the elongate device 310 if an excessive amount of curvature exists at the buckled section. Accordingly, in some embodiments, the procedure command may block user motion of the manipulator assembly 102, provide an indication (e.g., visual, audio) to stop the first procedure, or any combination thereof. [00115] In some embodiments, the procedure command includes providing an indication to the operator. The indication may include a visual indication on a display system 110. The indication may include an audio indication (e.g., instead of or in addition to a visual indication on a display system 110, an alternate/additional form of indication directed to the operator). The audio indication may include information about the buckled state (e.g., location, intensity) based on the proximal position information and the distal position information. [00116] In some embodiments, where the control system 112 is configured to transmit the command to the manipulator assembly 102, the command may disable motion of the elongate device 310. For example, the command may cause the distal end portion 318 of the elongate device 310 to go limp or disable motion of the manipulator assembly 102 at the distal end portion 318 of the elongate device 310. In some embodiments, the command may disable motion of the manipulator assembly 102 at the proximal end portion 316 of the elongate device 310 (e.g., lock a position of the insertion stage 308, set the insertion stage to an unpowered (neutral) drive state). [00117] In some embodiments, where the control system 112 is configured to transmit the command to the manipulator assembly 102, the command may modify a gain setting of a control element (e.g., user input gain of an input device) corresponding to motion of the elongate device 310. For example, motion of the insertion stage 308 along the insertion axis A may be controlled by a scroll wheel of the master assembly 106 and a flexing motion (e.g., pitch and yaw motion of the distal end portion 318 of the elongate device 310) may be controlled by a trackball of the master assembly 106. The gain setting may correspond to motion of the distal end portion 318 of the elongate device 310 (e.g., adjusting sensitivity of the flexing motion or scaling tip motion of the elongate device 310) and/or to motion of the manipulator assembly at the proximal portion of the elongate device 310 (e.g., adjusting sensitivity of the insertion stage 308). In some embodiments, lowering the gain setting reduces the sensitivity of the elongate device 310 to input commands at the master assembly 106 and may limit unintended motion in the buckled state. In some embodiments, increasing the gain setting increases sensitivity of the elongate device 310 to the input commands at the master assembly 106 and may allow the elongate device to pass through the buckled state. [00118] In some embodiments, where the control system 112 is configured to transmit the command to the manipulator assembly 102, the command may prevent operation of a medical tool or an instrument disposed at the distal end portion 318 of the elongate device 310. [00119] In some embodiments, where the control system 112 is configured to transmit the command to the manipulator assembly 102, the command may cause dithering of the elongate device 310. Dithering may include a back-and-forth movement that is repeated a given number of times or over a given time period. By dithering the elongate device 310, the buckled state may be resolved (e.g., dislodging the distal end portion 318, vibrating the elongate device 310 to overcome friction/stiction). The command may cause dithering by moving the manipulator assembly at the proximal end portion 316 of the elongate device 310 forward and backward (e.g., oscillating the insertion stage 308). The command may cause dithering by flexing the distal end portion 318 of the elongate device 310 (e.g., wiggling the distal tip along a transverse or any appropriate axis of the catheter, movement of an instrument attached to the distal end portion 318 of the elongate device 310). [00120] At 515, the control system 112 identifies a resolution of the buckled state in the elongate device 310. In some embodiments, the control system 112 identifies the resolution of the buckled state based on proximal position information and distal position information obtained from the proximal sensor 320 and the distal sensor 322, respectively, of the medical system 100. Various embodiments are described below with respect to FIGs. 7A-7E. [00121] At 520, the control system 112 provides an indication of the resolution of the buckled state and/or transmits a command to the manipulator assembly 102 to control the elongate device 310. [00122] In some embodiments, where the medical system 100 includes a display system 110 (e.g., one or more displays, a stereoscopic display, a remote display), the control system 112 may be configured to provide the indication of the resolution of the buckled state on a display of the display system 110. In some embodiments, where the medical system 100 includes an audio system (e.g., a speaker, an alert, a buzzer), the indication may include an audio indication (e.g., in addition to or instead of a visual indication). [00123] In some embodiments, where the control system 112 is configured to transmit the command to the manipulator assembly 102, the command may cause the manipulator assembly 102 to retract the proximal end portion 316 of the elongate device 310. For example, the insertion stage 308 may be retracted (i.e., moved in the proximal direction of the insertion axis) to prevent the distal end portion 318 of the elongate device 310 from suddenly moving forward upon the resolution of the buckled state. Furthermore, in some embodiments, the command may cause the manipulator assembly 102 to retract by a calculated amount. [00124] For example, the control system 112 may be configured to determine: an accumulation of an insertion position change of the elongate device 310 over a time window (e.g., based on the proximal position information from the proximal sensor 320); and an accumulation of a distal tip position change of the elongate device 310 over the time window (e.g., based on the distal position information from the distal sensor 322). The control system may be configured to determine a difference between the accumulation of the insertion position change and the accumulation of the distal tip position change over the time window to estimate a length of the elongate device 310 that is offset by the buckled state. Accordingly, to counteract the resolution of the offset length caused by the buckled state (e.g., a sudden forward movement of the distal tip position), the control system 112 may cause the manipulator assembly 102 to retract by an amount based on the difference between the accumulation of the insertion position change and the accumulation of the distal tip position change over the time window. [00125] In some embodiments, where the control system 112 is configured to transmit the command to the manipulator assembly 102, the command may disable motion of the elongate device 310. For example, the command may cause the distal end portion 318 of the elongate device 310 to go limp or disable motion of the manipulator assembly 102 at the distal end portion 318 of the elongate device 310. In some embodiments, the command may disable motion of the manipulator assembly 102 at the proximal end portion 316 of the elongate device 310 (e.g., lock a position of the insertion stage 308, set the insertion stage to an unpowered (neutral) drive state). [00126] In some embodiments, where the control system 112 is configured to transmit the command to the manipulator assembly 102, the command may prevent operation of an instrument (e.g., a medical tool) disposed at the distal end portion 318 (e.g., at the distal tip position) of the elongate device 310. [00127] While the various indications and commands are described above with respect to identification of the buckled state or identification of the resolution of the buckled state, one of ordinary skill in the art will appreciate that some or all of the indications and commands may be combined and/or applied in a different identification state (e.g., in the other of the buckled state or versus the resolution of the buckled state, as a procedure specific command). Furthermore, an indication or a command may include multiple examples or instances that are executed in series, in parallel, or any combination thereof. [00128] FIG.5B shows an alternative embodiment in which the control system 112 may be configured to identify resolution of a buckled state without prior identification of the buckled state. In other words, according to some embodiments, processes 505 and 510 are optional in method 500’ and the process of identifying the resolution of the buckled state in processes 515 and 520 may be performed independent from positional information acquired in identifying the buckled state. In some embodiments, the identification of resolution of a buckled state may be performed without an explicit indication of a prior buckled state existing. [00129] FIGs. 6A-6E show methods for identifying a buckled state in the elongate device 310 according to some embodiments. [00130] Based on information from the sensor system, the control system 112 may determine a shape and/or pose of at least a section of the elongate device 310 (e.g., an entire length of the elongate device 310, a specific region of the elongate device in which buckling is more or expected likely to occur). In some embodiments, the control system 112 may identify a buckled state or a resolution of the buckled state based on a limited amount of information from the sensor system. In other words, the control system 112 may be able to identify the occurrence of a buckled state or a resolution of the buckled state without complete shape information that identifies a specific region in which the buckled state or the resolution of the buckled state has occurred. For example, the buckled state or the resolution of the buckled state may be identified from information from a proximal sensor and/or a distal sensor without specifically identifying a location of the buckled state or the resolution of the buckled state along the length of the buckled device. Various embodiments are described below with respect to FIGs. 6A-6E. [00131] While FIGs. 6A-6C individually show specific sensors and associated information used to identify the buckled state or the resolution of the buckled state, embodiments of the control system 112 may be configured to use a combination of one or more sensors and associated information to identify a buckled state in the elongate device 310. In other words, the steps of FIGs. 6A-6C may be contributing factors in identifying the buckled state. For example, as explained in further detail below with respect to FIGs. 6D and 6E, the identification may be based upon different combination of sensors and associated information. In some embodiments, the method is based on a configuration of the sensor system 108 (e.g., the number and/or type of sensors, inclusion or omission of a shape sensor 222, inclusion or omission of an imaging instrument (internal or external to patient P)) of the medical system 100. [00132] As shown in FIG.6A, in some embodiments, the buckled state may be identified at least in part by monitoring curvature of the elongate device 310. [00133] At 610, the control system 112 determines a curvature of the elongate device 310 based on the distal position information from the distal sensor 322. For example, the distal sensor 322 may include a shape sensor 222 (e.g., a fiber optic bend sensor that provides strain measurements in one or more dimensions) that provides shape information (i.e., the distal position information) for some or all of the elongate device 310. Based on the distal position information from the distal sensor 322, the control system 112 may determine a curvature for some or all of the elongate device 310. [00134] In some embodiments, the control system 112 determines a curvature of the elongate device 310 based on the proximal position information from the proximal sensor 320. For example, the proximal sensor 320 may generate sensor data (e.g., shape data from the shape sensor) used by the control system 112 to determine the curvature. [00135] In some embodiments, the control system 112 determines a curvature of the elongate device 310 based on a sensor that is different from the proximal sensor 320 (e.g., a first sensor of the elongate device 310) and the distal sensor 322 (e.g., a second sensor of the elongate device 310). For example, a third sensor of the elongate device 310 may generate sensor data used by the control system112 to determine the curvature. [00136] At 615, the control system 112 identifies the buckled state based on the curvature of the elongate device 310 exceeding a curvature threshold. In some embodiments, a local maximum (i.e., a section of the elongate device 310) or an absolute maximum (i.e., over the entire elongate device 310) of curvature may be used. The curvature threshold may be defined based on a procedure (e.g., a maximum curvature expected from the geometry relative to a target site 412), on the elongate device (e.g., an amount of flex or strain in the device before a prolapse is expected to form), an operator input value, or any combination thereof. In some embodiments, the curvature threshold may be modified (e.g., changed or disabled) during a procedure. [00137] As shown in FIG.6B, in some embodiments, the buckled state may be identified at least in part by monitoring an insertion position of the elongate device 310. For example, the sensor system 108 may include a proximal sensor 320 (e.g., an encoder) that provides position information about the instrument body 312of the elongate device 310 (e.g., the instrument body 312 as it moves relative to the insertion stage 308 along the insertion axis A). [00138] At 620, the control system 112 determines an insertion position of the elongate device 310 based on proximal position information from a proximal sensor 320. In some embodiments, the proximal position information may be based on an encoder position of the instrument body 312 (e.g., the insertion stage 308) relative to the insertion axis A. [00139] At 625, the control system 112 identifies the buckled state based on the insertion position. For example, when the insertion position deviates from an expected position during a procedure (e.g., a stalled position, a back-driven position), the control system 112 may determine that the deviation is cause by a buckled state of the elongate device 310. In some embodiments, the control system 112 may identify the buckled state based on an external force applied to the elongate device 310 (e.g., contact force exceeding a threshold, unexpected force during a procedure). [00140] In a modified version of FIG.6B, at 620’, the control system 112 may determine an accumulation of the insertion position change over a time window. An accumulation of the insertion position change over a time window may be characterized as an insertion movement that is a change from an initial position at the start of the time window to a final position at the end of the time window (e.g., the proximal sensor 320 is a sensor that detects position along the insertion axis A over time). In some embodiments, an accumulation of the insertion position change over a time window may be characterized as an insertion speed or velocity (e.g., an average or instantaneous measurement of change in position during the time window). [00141] In the modified version of FIG.6B, at 625’, the control system 112 may identify the buckled state by comparing the accumulation of the insertion position change with a threshold. The threshold may be defined based on a procedure (e.g., an insertion movement/speed expected based the geometry relative to a target site 412), an operator input value, or any combination thereof. In some embodiments, the threshold may be modified (e.g., changed or disabled) during a procedure. [00142] In some embodiments, when insertion movement (i.e., the accumulation of the insertion position change) of the proximal portion of the elongate device 310 deviates from an expected value during a procedure (e.g., a partial/incomplete movement to a stalled position, a back-driving movement caused by resistance of the buckled configuration), the control system 112 may determine that the deviation is cause by a buckled state occurring somewhere along the length of the elongate device 310. [00143] In some embodiments, when insertion speed (i.e., the rate of change of the insertion position) of the proximal portion of the elongate device 310 deviates from an expected value during a procedure (e.g., reduced/negated magnitude caused by resistance or back- driving), the control system 112 may determine that the deviation is cause by a buckled state occurring somewhere along the length of the elongate device 310. [00144] As shown in FIG.6C, in some embodiments, the buckled state may be identified at least in part by monitoring a distal tip position of the elongate device 310. For example, the sensor system 108 may include a distal sensor 320 that provides position information about the distal end portion 316 of the elongate device 310 (e.g., the distal tip position). [00145] At 630, the control system 112 determines a distal tip position of the elongate device 310 based on the distal position information from the distal sensor. In some embodiments, the distal position information may include position and/or shape information determined by any combination of shape sensor(s), position sensor(s), and/or imaging device(s). [00146] In some embodiments, where the distal sensor 322 includes a shape sensor (e.g., the proximal sensor 320 and distal sensor 322 are a single fiber optic bend sensor that provides strain measurements along the entire length of the elongate device 310), the control system 112 may determine a distal tip position based on the shape information of the elongate device 310 relative to a reference point (e.g., the attachment point to the insertion stage 308 or any appropriate point on the medical system 300). [00147] In some embodiments, where the distal sensor 322 includes one or more position sensors, the control system 112 may directly determine distal tip position based on the positional or kinematic information from the one or more position sensors. For example, from a known initial pose, the control system 112 can iteratively determine a final pose/position of the distal tip position based on each movement command and/or positional measurement of the elongate device 310. [00148] In some embodiments, where the distal sensor 322 includes an imaging device, the control system 112 may use image processing methods to determine the distal tip position based on images captured by the imaging device. For example, an imaging device installed at the distal tip position of the elongate device 310 may acquire an image of the environment within the patient P. The control system 112 may correlate structures within the acquired image with a map (e.g., a 2D or 3D scan of the anatomy) of the insertion region to determine a location of the distal tip position relative to the structures. In some embodiments, the control system 112 may be able to localize the distal tip position based on acquired images without a map (e.g., simultaneous localization and mapping). [00149] In some embodiments, where the distal sensor 322 includes a imaging device, the control system 112 may directly determine distal tip position based on imaging information. For example, an imaging system 322’ (e.g., fluoroscopy imaging device) may capture an image of some or all of the elongate device 310 from outside of the patient (or insertion environment). Based on the fluoroscopy image, the control system 112 may be able to localize the distal tip position with or without a map of the insertion region. [00150] At 635, the control system 112 identifies the buckled state based on the distal tip position. For example, when the distal tip position deviates from an expected position during a procedure (e.g., a stalled position, a back-driven position), the control system 112 may determine that the deviation is cause by a buckled state of the elongate device 310. [00151] In a modified version of FIG.6C, at 630’, the control system 112 may determine an accumulation of the distal tip position change over a time window. An accumulation of the distal tip position change over a time window may be characterized as an insertion movement that is a change from an initial position at the start of the time window to a final position at the end of the time window (e.g., the distal sensor 322 detects a position of the distal tip over time). In some embodiments, an accumulation of the insertion position change over a time window may be characterized as an insertion speed or velocity (e.g., an average or instantaneous measurement of change in position during the time window). [00152] In the modified version of FIG.6C, at 635’, the control system 112 may identify the buckled state by comparing the accumulation of the distal tip position change with a threshold. The threshold may be defined based on a procedure (e.g., a movement/speed expected based the geometry relative to a target site 412), an operator input value, or any combination thereof. In some embodiments, the threshold may be modified (e.g., changed or disabled) during a procedure. [00153] In some embodiments, when distal movement (i.e., the accumulation of the distal position change) of the distal tip deviates from an expected value during a procedure (e.g., a partial/incomplete movement due to a stalled distal tip position, a back-driving movement caused by resistance of the buckled configuration), the control system 112 may determine that the deviation is cause by a buckled state of the elongate device 310. [00154] In some embodiments, when distal speed (i.e., the rate of change of distal position) of the distal tip deviates from an expected value during a procedure (e.g., reduced/negated magnitude caused by resistance or back-driving), the control system 112 may determine that the deviation is cause by a buckled state of the elongate device 310. [00155] As described above, in some embodiments, the buckled state may be identified based upon a combination of sensors and associated information. In other words, the control system 112 may aggregate different sensor data to determine a pose or a position of the elongate device 310 and whether a buckled state exists. [00156] As shown in FIG.6D, the identification may be based on curvature information from FIG.6A, on the insertion position from FIG.6B (or accumulation/change in the insertion position over a time window), and on the distal tip position from FIG. 6C (or accumulation/change in the distal position over a time window). In some embodiments, the buckled state may be identified when the insertion position is changing (e.g., determined by accumulation of insertion position change over time) AND distal position is not changing (e.g., determined by accumulation of distal position change relative to an orientation of the elongate device over time) AND a curvature of the elongate device exceeds a threshold (e.g., determined by a maximum measured curvature compared with a threshold curvature). In some embodiments, different time windows (e.g., offset start and/or end times, different durations) for the sensor data (e.g., integration windows, measurement windows for the accumulation of the insertion position change and the accumulation of the distal tip position change) may be used. [00157] At 610’, the control system 112 determines a curvature of the elongate device 310 between the proximal position and the distal position. The curvature may be based on one or more sensors. In one example, the curvature is based on the distal position information from the distal sensor 322, such as a shape sensor. [00158] At 620’, the control system 112 determines an accumulation of an insertion position change of the elongate device 310 over a time window, based on the proximal position information from the proximal sensor 320. For example, the control system determines how much a proximal portion of the flexible elongate device (e.g., instrument body 312) moves over a period of time. [00159] At 630’, the control system 112, determines an accumulation of a distal tip position change of the elongate device 310 over the time window, based on the distal position information from the distal sensor 322. For example, the control system determines how much a distal end portion 318 of the flexible elongate device moves over the same period of time. [00160] At 640’, the control system 112 identifies the buckled state based on: the curvature satisfying a curvature threshold; the accumulation of the distal tip position change within the time window is smaller than the accumulation of the insertion position change within the time window. Here, the accumulation of the distal tip position change within the time window being smaller than the accumulation of the insertion position change within the time window indicates that insertion force provided at the proximal end of flexible elongate device 310 is not contributing to a corresponding insertion movement at the distal end portion 318, and thus indicative of a buckled state somewhere between the proximal and distal ends of the flexible elongate device 310. The curvature satisfying a curvature threshold indicates that between the proximal and distal positions, there is a sufficiently large curvature that would also be indicative of a buckled state. As such, the combination of both curvature and inconsistent distal and proximal motions provide a reliable indicator of a buckled state. [00161] As shown in FIG. 6E, the identification may be based on only on the insertion position from FIG. 6B (or accumulation/change in the insertion position over a time window), and on the distal tip position from FIG. 6C (or accumulation/change in the distal position over a time window). In other words, in contrast with FIG. 6D, here the curvature metric is not used. In some embodiments, the identification of the buckling state is based only on the comparison between the accumulation of the distal tip position change and the accumulation of the insertion position change within a time window. In some embodiments, different time windows (e.g., offset start and/or end times, different durations) for the sensor data (e.g., integration windows, measurement windows for the accumulation of the insertion position change and the accumulation of the distal tip position change) may be used. [00162] At 610’’, the control system 112 determines an accumulation of an insertion position change of the elongate device 310 over a time window, based on the proximal position information from the proximal sensor 320. For example, the control system determines how much a proximal portion of the flexible elongate device (e.g., instrument body 312) moves over a period of time. [00163] At 620’’, the control system 112, determines an accumulation of a distal tip position change of the elongate device 310 over the time window, based on the distal position information from the distal sensor 322. For example, the control system determines how much a distal end portion 318 of the flexible elongate device 310 moves over the same period of time. [00164] At 630’’, the control system 112 identifies the buckled state based on: the accumulation of the distal tip position satisfying a distal threshold; and the accumulation of the insertion position satisfying an insertion threshold. In some embodiments, the identification may be based on the accumulation of the distal tip position change within the time window being smaller than the accumulation of the insertion position change within the time window. Here, the accumulation of the distal tip position change within the time window being smaller than the accumulation of the insertion position change within the time window indicates that insertion force provided at the proximal end of flexible elongate device 310 is not contributing to a corresponding insertion movement at the distal end portion 318, and thus indicative of a buckled state somewhere between the proximal and distal ends of the flexible elongate device 310. [00165] In general, as described with respect to FIGs. 6A-6E, the control system 112 collectively uses the distal and proximal information from one or more sensors to determine whether the position or shape of the elongate device 310 indicates a buckled state. The control system 112 may be configured to relate information from the different types of sensors based on one or more transformations (e.g., one or more coordinate transformation equations, matrices, kinematic transformations based on geometry of the manipulator assembly) to determine positional and/or shape information of the elongate device 310. [00166] In some embodiments, the control system 112 may identify the buckled state based on the insertion position changing (i.e., the accumulation of the insertion position change is non-zero) while, simultaneously, the distal tip position is not changing (i.e., the accumulation of the distal tip position change is zero or less than the accumulation of the insertion position change). [00167] In some embodiments, the insertion position changing and the distal tip position not changing may be a prerequisite condition for the control system 112 to identify the buckled state based on a curvature exceeding a curvature threshold. In other words, a determination based on curvature may be cross-referenced with a determination based on proximal/distal position/movement/speed or any combination thereof. [00168] Those skilled in the art, having benefit of this disclosure, will appreciate that various other embodiments may be devised without departing from the scope of the present disclosure and that some or all of the blocks may be executed in different orders, combined, and/or omitted. [00169] FIGs. 7A-7E show methods for identifying a resolution of the buckled state in the elongate device 310 according to some embodiments. [00170] While FIGs. 7A-7C individually show specific sensors and associated information used to identify the resolution of the buckled state, embodiments of the control system 112 may be configured to use a combination of one or more sensors and associated information to identify the resolution of the buckled state in the elongate device 310. In other words, the steps of FIGs. 7A-7C may be contributing factors in identifying the resolution of the buckled state. For example, as shown in FIGs.7D and 7E, the identification may be based upon information obtained from multiple sensors. In some embodiments, the method is based on a configuration of the sensor system 108 (e.g., the number and/or type of sensors, inclusion or omission of a shape sensor 222, inclusion or omission of an imaging instrument (internal or external to patient P)) of the medical system 100. [00171] As shown in FIG.7A, in some embodiments, the resolution of the buckled state may be identified by monitoring curvature of the elongate device 310. [00172] At 710, the control system 112 determines a curvature of the elongate device 310 based on the distal position information from the distal sensor 322. For example, the distal sensor 322 may include a shape sensor 222 (e.g., a fiber optic bend sensor that provides strain measurements in one or more dimensions) that provides shape information (i.e., the distal position information) for some or all of the elongate device 310. Based on the distal position information from the distal sensor 322, the control system 112 may determine a curvature for some or all of the elongate device 310. [00173] In some embodiments, the control system 112 determines a curvature of the elongate device 310 based on the proximal position information from the proximal sensor 320. For example, the proximal sensor 320 may generate sensor data (e.g., shape data from the shape sensor) used by the control system 112 to determine the curvature. [00174] In some embodiments, the control system 112 determines a curvature of the elongate device 310 based on a sensor that is different from the proximal sensor 320 (e.g., a first sensor of the elongate device 310) and the distal sensor 322 (e.g., a second sensor of the elongate device 310). For example, a third sensor of the elongate device 310 may generate sensor data used by the control system112 to determine the curvature. [00175] At 715, the control system 112 identifies the resolution of the buckled state based on the curvature of the elongate device 310 exceeding a curvature threshold. In some embodiments, a local maximum (i.e., a section of the elongate device 310) or an absolute maximum (i.e., over the entire elongate device 310) of curvature may be used. The curvature threshold may be defined based on a procedure (e.g., a maximum curvature expected from the geometry relative to a target site 412), on the elongate device (e.g., an amount of flex in the device before a prolapse is expected to form), an operator input, or any combination thereof. In some embodiments, the curvature threshold may be modified during a procedure. [00176] As shown in FIG.7B, in some embodiments, the resolution of the buckled state may be identified by monitoring an insertion position of the elongate device 310. For example, the sensor system 108 may include a proximal sensor 320 may provide position information about the instrument body 312 of the elongate device 310 (e.g., the instrument body 312 as it moves relative to the insertion stage 308 along the insertion axis A). [00177] At 720, the control system 112 determines an insertion position of the elongate device 310 based on the proximal position information from the proximal sensor. In some embodiments, the proximal position information may indicate a position of the instrument body 312 (e.g., the insertion stage 308) relative to the insertion axis A. [00178] At 725, the control system 112 identifies the resolution of the buckled state based on the insertion position. For example, when the insertion position deviates from an expected position during a procedure (e.g., an unexpected position due to the release of the prolapse), the control system 112 may determine that the deviation is cause by a resolution of the buckled state occurring somewhere along the length of the elongate device 310. [00179] In a modified version of FIG.7B, at 720’, the control system 112 may determine an accumulation of the insertion position change over a time window. As discussed above, an accumulation of the insertion position change over a time window may be characterized as an insertion movement and/or an insertion speed or velocity. [00180] In the modified version of FIG.7B, at 725’, the control system 112 may identify the resolution of the buckled state by comparing the accumulation of the insertion position change with a threshold. The threshold may be defined based on a procedure (e.g., an insertion movement/speed expected based the geometry relative to a target site 412), an operator input value, or any combination thereof. In some embodiments, the threshold may be modified (e.g., changed or disabled) during a procedure. [00181] In some embodiments, when insertion movement (i.e., the accumulation of the insertion position change) deviates from an expected value during a procedure (e.g., an unexpected movement due to the release of the prolapse), the control system 112 may determine that the deviation is cause by the resolution of the buckled state in the elongate device 310. [00182] In some embodiments, when insertion speed (i.e., the rate of change of the insertion position) deviates from an expected value during a procedure (e.g., an unexpected change in speed due to the release of the prolapse), the control system 112 may determine that the deviation is cause by the resolution of the buckled state in the elongate device 310. [00183] As shown in FIG.7C, in some embodiments, the resolution of the buckled state may be identified by monitoring a distal tip position of the elongate device 310. For example, the sensor system 108 may include a distal sensor 320 that provides position information about the distal end portion 316 of the elongate device 310 (e.g., the distal tip position). [00184] At 730, the control system 112 determines a distal tip position of the elongate device 310 based on the distal position information from the distal sensor. In some embodiments, the distal position information may include position and/or shape information determined by any combination of shape sensor(s), position sensor(s), and/or imaging device(s). [00185] At 735, the control system 112 identifies the resolution of the buckled state based on the distal tip position. For example, when the distal tip position deviates from an expected position during a procedure (e.g., an overextended position, an offset position (e.g., located in the second passage 416 rather than in the targeted first passage, in FIGs.4A-4C), the control system 112 may determine that the deviation is cause by a resolution of the buckled state of the elongate device 310. [00186] In a modified version of FIG.7C, at 730’, the control system 112 may determine an accumulation of the distal tip position change over a time window. As discussed above, an accumulation of the distal tip position change over a time window may be characterized as an insertion movement and/or an distal speed or velocity. [00187] In the modified version of FIG.7C, at 735’, the control system 112 may identify the resolution of the buckled state by comparing the accumulation of the distal tip position change with a threshold. The threshold may be defined based on a procedure (e.g., a movement/speed expected based the geometry relative to a target site 412), an operator input value, or any combination thereof. In some embodiments, the threshold may be modified (e.g., changed or disabled) during a procedure. [00188] In some embodiments, when distal movement (i.e., the accumulation of the distal position change) of the distal tip deviates from an expected value during a procedure (e.g., an unexpected movement due to the release of the prolapse), the control system 112 may determine that the deviation is cause by the resolution of the buckled state of the elongate device 310. [00189] In some embodiments, when distal speed (i.e., the rate of change of distal position) of the distal tip deviates from an expected value during a procedure (e.g., an unexpected change in speed due to the release of the prolapse), the control system 112 may determine that the deviation is cause by the resolution of the buckled state of the elongate device 310. [00190] As described above, in some embodiments, the resolution of the buckled state may be identified based upon a combination of sensors and associated information. In other words, the control system 112 may aggregate different sensor data to determine a pose or a position of the elongate device 310 and whether the buckled state is resolved. [00191] As shown in FIG.7D, the identification may be based on curvature information from FIG.7A, on the insertion position from FIG.7B (or accumulation/change in the insertion position over a time window), and on the distal tip position from FIG. 7C (or accumulation/change in the distal position over a time window). In some embodiments, resolution of the buckled state may be identified when the insertion position is not changing (e.g., determined by accumulation of insertion position change over time) AND distal position is changing (e.g., determined by accumulation of distal position change (e.g., relative to an orientation) of the elongate device over time) AND a curvature of the elongate device falls below a threshold (e.g., determined by a maximum measured curvature compared with a threshold curvature). In some embodiments, different time windows (e.g., offset start and/or end times, different durations) for the sensor data (e.g., integration windows, measurement windows for the accumulation of the insertion position change and the accumulation of the distal tip position change) may be used. [00192] At 710’, the control system 112 determines a curvature of the elongate device 310 based on the distal position information from the distal sensor 322. The curvature may be based on one or more sensors. In one example, the curvature is based on the distal position information from the distal sensor 322, such as a shape sensor. [00193] At 720’, the control system 112 determines an accumulation of an insertion position change of the elongate device 310 over a time window, based on the proximal position information from the proximal sensor 320. For example, the control system determines how much a proximal portion of the flexible elongate device (e.g., instrument body 312) moves over a period of time. [00194] At 730’, the control system 112, determines an accumulation of a distal tip position change of the elongate device 310 over the time window, based on the distal position information from the distal sensor 322. For example, the control system determines how much a distal end portion 318 of the flexible elongate device moves over the same period of time. [00195] At 740’, the control system 112 identifies the resolution of the buckled state based on: the curvature satisfying a curvature threshold; the accumulation of the distal tip position change within the time window is larger than the accumulation of the insertion position change within the time window. Here, the accumulation of the distal tip position change within the time window being larger than the accumulation of the insertion position change within the time window indicates an insertion movement at the distal end portion 318 without a corresponding insertion force being provided at the proximal end of flexible elongate device 310, and thus indicative of a resolution of a buckled state somewhere between the proximal and distal ends of the flexible elongate device 310. The curvature satisfying a curvature threshold indicates that between the proximal and distal positions, there is reduction in curvature that would also be indicative of a resolution of a buckled state. As such, the combination of both curvature and inconsistent distal and proximal motions provide a reliable indicator of a resolution of a buckled state. [00196] As shown in FIG. 7E, the identification may be based on only on the insertion position from FIG. 7B (or accumulation/change in the insertion position over a time window), and on the distal tip position from FIG. 7C (or accumulation/change in the distal position over a time window). In other words, in contrast with FIG. 7D, here the curvature metric is not used. In some embodiments, the identification of the buckling state is based only on the comparison between the accumulation of the distal tip position change and the accumulation of the insertion position change within a time window. In some embodiments, different time windows (e.g., offset start and/or end times, different durations) for the sensor data (e.g., integration windows, measurement windows for the accumulation of the insertion position change and the accumulation of the distal tip position change) may be used. [00197] At 710’’, the control system 112 determines an accumulation of an insertion position change of the elongate device 310 over a time window, based on the proximal position information from the proximal sensor 320. For example, the control system determines how much a proximal portion of the flexible elongate device (e.g., instrument body 312) moves over a period of time. [00198] At 720’’, the control system 112, determines an accumulation of a distal tip position change of the elongate device 310 over the time window, based on the distal position information from the distal sensor 322. For example, the control system determines how much a distal end portion 318 of the flexible elongate device 310 moves over the same period of time. [00199] At 730’’, the control system 112 identifies the resolution of the buckled state based on: the accumulation of the distal tip position change satisfying a distal threshold; and the accumulation of the insertion position change satisfying an insertion threshold. In some embodiments, the identification may be based on the accumulation of the distal tip position change within the time window being larger than the accumulation of the insertion position change within the time window. Here, the accumulation of the distal tip position change within the time window being larger than the accumulation of the insertion position change within the time window indicates that an insertion movement at the distal end portion 318 is greater than insertion movement provided at the proximal end of flexible elongate device 310, and thus indicative of a resolution of a buckled state somewhere between the proximal and distal ends of the flexible elongate device 310. [00200] In general, as described with respect to FIGs. 7A-7E, the control system 112 collectively uses the distal and proximal information from one or more sensors to determine whether the position or shape of the elongate device 310 indicates a resolution of a buckled state. The control system 112 may be configured to relate information from the different types of sensors based on one or more transformations (e.g., one or more coordinate transformation equations, matrices, kinematic transformations based on geometry of the manipulator assembly) to determine positional and/or shape information of the elongate device 310. In some embodiments, the control system 112 may require information related to identification of the buckled state. [00201] In some embodiments, the control system 112 may identify the resolution of the buckled state based on the insertion position not changing (i.e., the accumulation of the insertion position change is zero or less than the accumulation of the distal tip position change) while, simultaneously, the distal tip position is changing (i.e., the accumulation of the distal tip position change is non-zero). [00202] In some embodiments, the insertion position not changing and the distal tip position changing may be a prerequisite condition for the control system 112 to identify the resolution of the buckled state based on a curvature falling below a curvature threshold. In other words, a determination based on curvature may be cross-referenced with a determination based on proximal/distal position/movement/speed or any combination thereof. [00203] While the above embodiments refer to a buckle or buckled state, it will be clear to a person of ordinary skill in the art that the above embodiments can be used to identify a bend, where a bend may be defined as a curve in the path of the flexible elongate device 310 from the distal end portion 318 to the proximal end portion 316. In some embodiments, the bend is a buckled state. In some embodiments, the bend is a loop, where a loop may be defined as when a section of the flexible elongate device 310 forms a curve that bends round and crosses itself. [00204] Referring to FIG.10A, for example, the flexible elongate device 310 is inserted into the gastrointestinal tract 420 of the patient P taking an intended path through the esophagus 420a, the stomach 420b and into the duodenum of the small intestine 420c to reach a target site 430. As described with reference to FIG. 4A-4C, the target site 430 is the site that is intended to undergo a procedure such as a treatment, an examination, or a biopsy. To reach the target site 430, a bend is formed by the flexible elongate device 310 between the proximal end portion 316 and the distal end portion 318. In FIG.10A, the bend arises as a result of the intended path to be taken by the flexible elongate device 310 through the gastrointestinal tract 420 to reach the target site 430. In FIG.10A, as the proximal end portion 316 of the flexible elongate device 310 is advanced along the esophagus 420a toward the stomach 420b, the distal end portion 318 located in the small intestine 420c may advance along the small intestine 420c toward the target site 430. [00205] Referring to FIG.10B, in this example, the bend formed by the flexible elongate device 310 is an unintended bending. In the example of FIG. 10B, the bend may arise when a portion of the flexible elongate device 310 interacts with tissue (e.g., insertion while constrained by the anatomy, such as contact with a passageway wall, insertion around a tight bend, etc.) while the flexible elongate device 310 is being inserted. Referring to FIG. 10B for example, when the proximal end portion 316 of the flexible elongate device 310 is advanced along the esophagus 420a toward the stomach 420b, the distal end portion 318 located in the large intestine 420c may not sufficiently advance along the large intestine toward the target site. Instead, the flexible elongated device 310 may deform, forming a bend that deviates from the intended path (as illustrated in FIG. 10A, for example) of the flexible elongate device 310 through the gastrointestinal tract 420. [00206] Alternatively, the bend in FIG. 10B may arise when the distal end portion 318 of the flexible elongate device 310 is inserted through the esophagus 420a, and on entering the stomach 420b, the distal end portion 318 may advance through the stomach 420b to the small intestine 420c along a longer path compared to the intended path through the stomach 420b (as illustrated in FIG. 10B, for example). While FIG. 10B shows a particular bend shape and geometry of the flexible elongate device 310, it will be clear to a person of ordinary skill in the art that alternative bend shapes and geometry may occur, such as those described previously with reference to FIGs. 4A to 4C, or loops such as alpha loops, or reverse alpha loops. [00207] Furthermore, while FIGs. 10A and 10B have been described as showing a bend that arises from an insertion (or linear movement) of the flexible elongate device 310, movements in other directions or a combination of directions may also result in the formation of a bend. For example, a bend in the flexible elongate device 310 may arise due to a movement (rotation) of the proximal end portion 316 about the roll axis. The flexible elongate device 310 may initially be in the position shown in FIG. 10A. The proximal end portion may then be rotated about the roll axis of the flexible elongate device 310. Constraints by the anatomy, such as contact of portions of the flexible elongate device with passageway wall, may prevent the roll of the proximal end portion 316 about the roll axis from being fully translated to a roll of the distal end portion 318, and as a result a loop (not shown in the figures) may be formed. [00208] Generally, bends along the flexible elongate device 310 may lead to a loss of “1 to 1” motion meaning that a motion of the proximal end portion 316 does not correspond to an equivalent motion of the distal end portion 318. When a bend is not intentional or desirable in the flexible elongate device 310, it is may be useful for a medical system 100 to reduce such loss of “1 to 1” motion by: 1) informing the user that such loss of motion is about to occur , 2) informing the user on how to move the flexible elongate device 310 to restore “1 to 1” motion, for example, by guiding the user to perform a “loop reduction maneuver” such as pulling back and twisting the flexible elongate device 310, and/or 3) adopt compensation schemes to provide additional motions of the flexible elongate device in addition to user maneuvers to ensure restore “1 to 1” motion. [00209] It will be clear to a person of ordinary skill in the art that in some procedures it may be desirable, or intentional, to form a bend such as that illustrated in FIG. 10B, so as to reach different target sites. In such cases, it may be beneficial to identify the bend to verify that the flexible elongate device 310 is taking the correct path. For example, in gastrointestinal (GI) applications, intentional bend conditions can arise when a user has to intubate the pylorus (the portion of the stomach that is connected to the duodenum). In this scenario, the user may intentionally bounce the endoscope off of the stomach wall, and use it to aim the endoscope tip towards the pylorus. Then once the intubation is complete, the user performs a maneuver to reduce or resolve the bend in the endoscope by simultaneously pulling and twisting the endoscope shaft. [00210] In some embodiments, a bend is a deformation of the flexible elongate device 310 that arises when movement of the proximal end portion 316 is not completely (100%) or mostly translated to movement of the distal end portion 318. [00211] In some embodiments, a bend may refer to a bend along any portion of the flexible elongate device 310. In some embodiments, where the distal end portion 318 of the flexible elongate device 310 is configured to articulate, a bend may refer to a bend in non- articulating portions of the flexible elongate device 310. [00212] In some embodiments, in the medical system 100, the manipulator assembly 102 is configured to drive the proximal end portion 316, and the sensor system 108 determines a proximal velocity of the proximal end portion 316. The sensor system 108 further determines a distal velocity of the distal end portion 318. The control system 112 is configured to identify a bend formed by the flexible elongate device 310 based on the proximal velocity and the distal velocity. [00213] The sensor system 108 comprises at least one of a plurality of types of sensors. It will be clear to a person of ordinary skill in the art that different types of sensors may be used to determine the proximal velocity and the distal velocity. In some embodiments, the sensor system 108 may comprise a fiber shape sensor disposed within an interior channel of the flexible elongate device 310. In some embodiments, the sensor system 108 comprises one or more position sensors disposed along a length of the flexible elongate device 310. In some embodiments, the sensor system 108 comprises a proximal sensor disposed on or proximal to the proximal end portion 316 of the flexible elongate device 310, and a distal sensor disposed on or proximal to the distal end portion 318 of the flexible elongate device 310. In some embodiments, the sensor system 108 comprises a fluoroscopy device that images the flexible elongate device. In some embodiments, the sensor system comprises a position sensor, disposed on the distal end portion 318 of the flexible elongate device 310, coupled with a processor that reconstructs a shape of the flexible elongate device 310 based on movement of the distal end portion 318 of the flexible elongate device 310. In some embodiments, the sensor system 108 includes an imaging sensor coupled with a processor that reconstructs a shape of the flexible elongate device 310 based on imagery from the imaging sensor and a map of an insertion region. In some embodiments, the sensor system 108 includes electro-magnetic tracking sensors. In some embodiments, the sensor system 108 includes sensors to detect contact with a passageway wall (such as the stomach wall) along the endoscope length. In some embodiments, the sensor system 108 includes inertial measurement units (IMU units), such as accelerometers, gyroscopes, or inclinometers. [00214] The distal velocity of the distal end portion 318 may be measured from the distal end portion 318 if the flexible elongate device 310 is not configured to articulate at the distal end portion 318. If the flexible elongate device 310 is configured to articulate at the distal end portion 318, then the distal velocity may be measured proximal to the distal end portion 318. [00215] In some embodiments, the control system 112 is configured to determine a velocity metric using the proximal velocity and the distal velocity. In some embodiments, the velocity metric is a difference or ratio between the proximal velocity and the distal velocity. In some embodiments, the control system 112 is further configured to compare the velocity metric with a predetermined threshold to identify the bend. In this way, based on the proximal velocity and the distal velocity, the translation of the movement of the proximal portion 316 to a movement of the distal portion 318 can be used to identify if there is a bend formed by the flexible elongate device 310. [00216] FIGs. 8A and 8B illustrate embodiments of how the proximal velocity and the distal velocity can be used to identify the bend in a flexible elongate device 310. [00217] FIG.8A illustrates the flexible elongate device 310 with a bend formed between the proximal end portion 316 of the flexible elongate device 310 and the distal end portion 318 of the flexible elongate device 310. In FIG. 8A, the manipulator assembly 102 is configured to drive the proximal end portion 316 along an axis of motion, such as an insertion axis, as indicated by arrow 320 with a proximal velocity, where the proximal velocity is a linear velocity ^_^^^^^^^^. [00218] In FIG. 8A, the driving of the proximal end portion 316 may cause movement of the distal end portion 318. The movement of the distal end portion 318 due to the movement of the proximal end portion 316 may be in a plurality of directions. [00219] In some embodiments, the velocity metric is a ratio ^_^, which may be determined as: Equation 1 where ^_^̂_^^^^^^^ is a unit vector aligned with the insertion axis of the manipulator assembly 102 and pointing towards the patient P, where ^^_^^^^^^^^ is the velocity vector at the proximal end portion 316 of the flexible elongate device 310, where ^^_{^^ !^^} is the velocity vector at the distal end portion 318 of the flexible elongate device 310, and where ^_^̂_{^ !^^} is a unit vector aligned with a pointing direction of the tip of the distal end portion 318 as illustrated in FIG. 8A. In some embodiments, ^_^̂_{^ !^^} is a unit vector aligned with a longitudinal axis of the distal end portion 318. [00220] If the movement of the proximal end portion 316 is fully translated into a movement of the distal end portion 318, then the ratio ^_^ will be 1. However, when a bend is formed or forming in the flexible elongate device 310, the movement of the proximal end portion 316 may not be fully translated into a movement of the distal end portion 318. For example, referring to FIG. 10A and 10B, as the proximal end portion 316 is advanced with a proximal velocity ^_^^^^^^^^ during an insertion of the flexible elongate device, the distal end portion 318 may not move, or only move minimally. Instead, the movement of the proximal end portion 316 causes a bend to form between points A and B. Further movement of the proximal end portion 316 will cause the bend between points A and B in the flexible elongate device 310 to enlarge. If the movement of the proximal end portion 316 is not fully translated into a movement of the distal end portion 318, then the ratio ^_^ will be greater than 1, and a bend can be identified. Therefore, by monitoring the change in the distal velocity ^_^̅_{^ !^^} compared to the proximal velocity ^_^^^^^^^^ using the velocity metric, a bend may be identified. [00221] In some embodiments, the velocity metric may be determined as a difference b_{etween the proximal velocity ^^^^^^^^^^ and the distal velocity ^^^^ !^^ ∙ ^^̂^ !^^. If the} movement of the proximal end portion 316 is fully translated into a movement of the distal end portion 318, then the difference ∆_^ will be 0. If the movement of the proximal end portion 316 is not fully translated into a movement of the distal end portion 318, then a magnitude of the difference ∆_^ will be greater than 0, and a bend can be identified. [00222] FIG.8B illustrates the flexible elongate device 310 with a bend formed between the proximal end portion 316 of the flexible elongate device 310 and the distal end portion 318 of the flexible elongate device 310. In FIG. 8B, the manipulator assembly 102 is configured to drive the proximal end portion 316 along a roll axis, as illustrated by arrow 322, with a proximal angular velocity %_^^^^^^^^. [00223] In FIG. 8B, the driving of the proximal end portion 316 about the roll axis may cause a rolling of the distal end portion 318. The proximal angular velocity %^^_^^^^^^^^ may be compared to the distal angular velocity %_{^^ !^^}. In some embodiments, a velocity metric is determined using the proximal angular velocity %^^_^^^^^^^^ and the distal angular velocity %_{^^ !^^}. In some embodiments, the velocity metric is a ratio ^_&, which may be determined as: Equation 2 where ^_^̂_^^^^^^^ is a unit vector aligned with the insertion axis of the manipulator assembly 102 and pointing towards the patient P, where %^^_^^^^^^^^ is the angular velocity vector at the proximal end portion 316 of the flexible elongate device 310, where %^^_{^^ !^^} is the angular velocity vector at the distal end portion 318 of the flexible elongate device 310, and where ^_^̂_{^ !^^}is a unit vector aligned with a pointing direction of the tip of the distal end portion 318. In some embodiments, ^_^̂_{^ !^^} is a unit vector aligned with a longitudinal axis of the distal end portion 318. [00224] If the movement of the proximal end portion 316 is fully translated into a movement of the distal end portion 318, then the ratio ^_& will be 1. However, when a bend is formed or forming in the flexible elongate device 310, the movement of the proximal end portion 316 may not be fully translated into a movement of the distal end portion 318. For example, referring to FIG. 10A, as the proximal end portion 316 is driven about the roll axis with a proximal angular velocity %^^_^^^^^^^^, the distal end portion 318 may not move, or only move minimally. Instead, the movement of the proximal end portion 316 causes a bend to form between points A and B. If the movement of the proximal end portion 316 is not fully translated into a movement of the distal end portion 318, then the ratio ^_& will be greater than 1, and a bend may be identified. [00225] In some embodiments, the velocity metric may be determined as a difference ∆_& between the proximal angular velocity %^^_^^^^^^^^ and the distal angular velocity %_{^^ !^^}. If the movement of the proximal end portion 316 is fully translated into a movement of the distal end portion 318, then the difference ∆_& will be 0. If the movement of the proximal end portion 316 is not fully translated into a movement of the distal end portion 318, then a magnitude of the difference ∆_& will be greater than 0, and a bend can be identified. [00226] In some cases, rotational motion of the proximal end portion 316 may cause linear motion of the distal end portion 318. For example, on rotating the proximal end portion, the entire flexible elongate device 310 may swing around without rolling about its rotational axis. Therefore, in some embodiments, a velocity metric may further include a comparison between the proximal angular velocity %^^_^^^^^^^^ and the distal linear velocity ^^_{^^ !^^}. This enables the determination of how much the proximal angular velocity %^^_^^^^^^^^ is converted to distal angular velocity %^^_{^^ !^^}without inducing any translation or linear velocity of the distal end portion 318.In some embodiments, the velocity metric (for example ^_^, ^_&, ∆_^ or ∆_&) may be compared to a predetermined threshold to identify the bend. In some embodiments, the velocity metric may be compared with at least one predetermined threshold to identify a state of the bend. As an example where the velocity metric is a ratio ^_^, if it is determined that the ratio ^_^ is greater than 1 and less than a first predetermined threshold (e.g.1.2), then it may be determined that the bend is just beginning to form and is in a first state. If it is determined that the ratio ^_^ is greater than or equal to the first predetermined threshold and less than a second predetermined threshold (e.g. 2), then it may be determined that the bend is in an acceptable state or second state. If it is determined that the ratio ^_^ is greater than or equal to the second predetermined threshold, then it may be determined that the bend is in an unacceptable state, or third state. [00227] In some embodiments, a bend may be identified based on the proximal linear velocity, the proximal angular velocity, the distal linear velocity and the distal angular velocity. In some embodiments, a first ratio or first difference may be determined based on the proximal linear velocity and the distal linear velocity, and a second ratio or second difference may be determined based on the proximal angular velocity and the distal angular velocity. In some embodiments, the bend may be identified by comparing the first ratio to a first predetermined threshold and the second ratio to a second predetermined threshold. In some embodiments, the state of the bend may be identified by comparing the first ratio to at least a first predetermined threshold and the second ratio to at least a second predetermined threshold. [00228] In some embodiments, the bend is an unintended bend, prolapse or buckling of the flexible elongate device 310. In some embodiments, the bend occurs in portions of the flexible elongate device that are not articulated portions. [00229] In response to identifying the bend, the control system 112 provides an indication to a user of the medical system 100 that the bend has been identified. In some embodiments, the indication may be a visual indication provided on a display system 110. In some embodiments, the indication may comprise an indication of the state of the bend. For example, if the state of the bend is a first state, then a green indicator may be provided. For example, if the state of the bend is a second state, then a yellow indicator may be provided. For example, if the state of the bend is a third state, then a red indicator may be provided. [00230] In some embodiments, the indication may be an audible indication, or tactile indication, such as a vibration. [00231] When using a flexible elongate device 310, a user cannot always see all the length the flexible elongate device 310, for e.g. when at least part of the flexible elongate device 310 is inside the body. Identifying and providing an indication of a bend formed in the flexible elongate device 310 to a user thereby provides a valuable navigational tool. Providing an indication of the bend, and optionally a state of the bend, enables a user to take steps to resolve the bend, if the bend is an unintended bend, or to monitor a bend in the flexible elongate device 310, if a bend is intended during navigation of the flexible elongate device to a target site 430. [00232] In some embodiments, once a bend is identified, a location of the bend along the length of the flexible elongate device 310 is determined. FIGs. 9A to 9E illustrate how the bend may be localized in the flexible elongate device 310 according to some embodiments. [00233] Referring to FIG. 9A to FIG. 9E, a plurality of points 910-1, 910-2 …910-N may be defined along the length of the flexible elongate device 310. In some embodiments, the sensor system 108 may determine a position measurement (((910-1), ((910-2)… ((910-N)) at each point 910-1, 910-2 ……910-N. In some embodiments, the position measurement (((910-1), ((910-2)… ((910-N)) is the coordinates of the point in the three-dimensional space (patient coordinate space). [00234] In some embodiments, a plurality of curvature metrics CMs may be determined using the position measurements (((910-1), ((910-2)… ((910-N)), and a location of the bend along the length of the flexible elongate device 310 is identified using the plurality of curvature metrics CMs. [00235] Referring to FIG.9A, for a pair of points (e.g. 910-1 and 910-N), a straight line distance 920 may be determined between the points (e.g. 910-1 and 910-N) based on the position measurements (e.g. ((910-1) and ((910-N)) obtained for the points (e.g. 910-1 and 910-N). The straight line distance 920 is the shortest distance in the three-dimensional space between the points (e.g. 910-1 and 910-N). In some embodiments, the straight line distance 920 between a pair of points (e.g. 910-1 and 910-N) may be calculated using the position measurements (e.g. ((910-1) and ((910-N)) for each of the pair of points (e.g.910-1 and 910- N), where each position measurement is the coordinates within the three-dimensional space. [00236] Referring to FIG.9A, for a pair of points (e.g.910-1 and 910-N), a device length distance between the points (e.g. 910-1 and 910-N) is determined. The device length distance for a pair of points is the length of the path along the flexible elongate device 310 between the two points of the pair. In FIG. 9A, the device length distance between 910-1 and 910-N is the length of the path that passes from 910-1 through points 910-2, 910-3, 910-4, 910-5, 910-6, 910-7, and 910-8 to point 910-N. [00237] In some embodiments, the sensor system 108 may determine an arclength measurement (s(910-1), s(910-2)… s(910-N)) at each point 910-1, 910-2 ……910-N. An arclength is defined as the distance between two points along a section of a curve. The sensor system 108 may be configured to determine the arclength for each point of the plurality of points with respect to the proximal end portion 316 of the flexible elongate device 310. Alternatively, the sensor system 108 may be configured to determine the arclength for each point of the plurality of points with respect to the distal end portion 318 of flexible elongate device 310. The device length distance between a pair of points may then be determined based on the arclengths for each point of the pair of points. For example, for points 910-1 and 910-N the device length distance may be determined as a difference between /_0^12^ and /_0^123. [00238] Referring to FIG. 9A, for a pair of points (e.g. 910-1 and 910-N), a curvature metric CM may be determined based on the straight line distance between the pair of points and the device length distance between the pair of points. The curvature metric is a metric that provides a comparison of the straight line distance and the device length distance between a pair of points. In some embodiments, the curvature metric CM for a pair of points A and B may be computed as a ratio: Equation 3 where ((A) and ((B) are the position measurements at points A and B respectively, and /₌ and /_> are the arclengths of points A and B with respect to a base or a tip of the flexible elongate _{device, where /> > /==, where /=, /> ∈ [0, G], where L is the overall length of the flexible} elongate device 310. [00239] In some embodiments, the curvature metric CM is a difference between the straight line distance and the device length distance, or another metric [00240] A curvature metric CM can be determined for each of a plurality of pairs of points from the plurality of points 910-1, 910-2 ……910-N. In some embodiments, a curvature metric CM maybe determined for all unique pairs in the set of points 910-1, 910-2 ……910- N. In some embodiments, a curvature metric CM is determined for a subset of all the unique pairs in the set of points 910-1, 910-2 ……910-N. Based on the plurality of curvature metrics, a most bent portion of the flexible elongate device 310 can be identified. The control system 112 may determine the pair of positions for which the curvature metric CM satisfies a predetermined condition and identify the location of the bend as being between the pair of positions. [00241] In the case where the curvature metric CM is a ratio as in Equation 3, an optimization problem may be solved as: m =,i>n 45 Equation 4 _{subject to the constraints that /> > /=, where /=, /> ∈ [0, G].} [00242] FIG. 9C to FIG. 9E illustrate how the curvature metric may be calculated between pairs of points along the flexible elongate device 310. For example, based on the determination of the curvature metrics, where the CM is a ratio according to Equation 3, it may be determined that the curvature metric determined for points 910-4 and 910-6 is the smallest. Hence, it may be determined that the bend is located between points 910-4 and 910-6. [00243] With respect to Equations 3 and 4, it will be clear to a person of ordinary skill in the art that should a different CM be used, then a different optimization problem will need _{to be solved. For example, if 45} , then the optimization problem may be to find the maximum curvature metric CM between a plurality of pairs of points. [00244] In some embodiments, the curvature metric CM may be a sum (or integral) of magnitudes of bend angles along a length of the flexible elongate device 310 from a first portion of the flexible elongate device 310 (infinitesimal) to a second portion of the flexible elongate device 310. [00245] In some embodiments, the curvature metric CM may be determined based on whether the “pointing” direction “reverses” along the length of the flexible elongate device 310. For example, point A along the flexible elongate device may have a directional unit vector ^₌̂ and point B along the flexible elongate device 310 may have a directional unit vector ^_>̂, where the directional unit vectors ^₌̂ and ^_>̂ align with a longitudinal axis of the flexible elongate device at points A and B respectively. If the dot product of ^₌̂ and ^_>̂ becomes negative, then it may indicate the position of the bend. [00246] In some embodiments, curvature metrics CM may be evaluated along the entire length of the flexible elongate device 310 or only for some portions of the flexible elongate device 310. In some embodiments, the curvature metrics CM may be calculated on a decimated or averaged basis. [00247] In response to localizing the bend, an indication may be provided to the user as to where the bend is located. In some embodiments, a graphic of the flexible elongate device 310 may be displayed with the location of the bend indicated on the graphic. [00248] In some embodiments in response to the bend being identified and/or localized, the control system may transmit a command to the manipulator assembly to control the flexible elongate device 310. In some embodiments, the command disables motion of the flexible elongate device 310, so as to prevent further formation or enlargement of the bend. [00249] In some embodiments, in response to the bend being identified and/or localized, the control system 112 may transmit at least one command to the display system 110, the manipulator assembly 102, and/or other systems such as speakers or tactile feedback devices, where the at least one command indicates or causes a resolution movement of the flexible elongate device 310 about at least one axis so as to resolve, partially resolve or reduce the bend. Before discussing the command further below, the determination of the resolution movement is first discussed. [00250] Referring to FIG. 10B, a bend in the flexible elongate device 310 has formed within the stomach 420b. In some embodiments, it may be desirable to shorten the length of the flexible elongate device 310 between points A and B so that the flexible elongate device 310 takes a shorter path through the stomach 420b. By applying a resolution movement of the flexible elongate device 310, for example in the direction indicated by arrow 1010, the excess length of the flexible elongate device 310 between A and B in the stomach of FIG. 10B may be pulled back and shortened. As a result, the flexible elongate device 310 takes a different path in the stomach, such as that shown in FIG. 10A between points A and B. [00251] In some embodiments, the bend resolution command indicates or causes a resolution movement of the flexible elongate device 310 about the insertion axis of the flexible elongate device 310, wherein the movement about the insertion axis is a retraction movement. In some embodiments, the resolution movement is a movement that will remove the bend in the flexible elongate device 310 between points A and B, so that the portion of the flexible elongate device 310 between A and B forms a substantially straight line. In some embodiments, the desired movement is a movement that will partially resolve the bend between points A and B, for example, by reducing a bend curvature of the bend in the flexible elongate device 310 between points A and B, where the bend curvature is a measure of the degree to which the bend between points A and B deviates from being a straight line. FIG. 10A and 10B are 2D representations of a 3-D patient P space, and the flexible elongate device 310 may not be lying along a single plane. Therefore, depending on the orientation of the bend in FIG.10B, the bend may also be resolved, or partially resolved, by a movement of the flexible elongate device about the roll axis of the flexible elongate device 310. In some embodiments, the bend resolution command indicates or causes a resolution movement of the flexible elongate device 310 about the roll axis of the flexible elongate device 310. In some embodiments, the resolution movement about the roll axis may be a clockwise or counter clockwise direction. [00252] In some embodiments, a sensor or sensor system may be used to determine a geometry of the bend, and based on the geometry of the bend a bend resolution command may be determined. For example, referring to FIG. 9A to FIG. 9E, the sensor system 108 may determine a position measurement (((910-1), ((910-2)… ((910-N)) at each point 910-1, 910- 2 ……910-N. In some embodiments, the position measurement (((910-1), ((910-2)… ((910- N)) is the coordinates of the point in the three-dimensional space (patient coordinate space). From the position measurements (((910-1), ((910-2)… ((910-N)), a geometry of the bend may be determined. For example, it may be determined that the bend is a loop such as an alpha loop, an n-bend etc. For example, a bend curvature of the bend may be determined, where the bend curvature is a measure of the degree to which the bend deviates from being a straight line. [00253] For example, in the case of an alpha loop, the flexible elongate device 310 loops around to form the shape of the “alpha” or “α” letter. The point where the flexible elongate device 310 crosses itself may be referred to as the crossing or knot. From the position measurements ((910-1), ((910-2)… ((910-N)), two points 910-1, 910-2 ……910-N may be determined to be far apart in terms of the distance along the flexible elongate device 310, but close together in the patient coordinate space with respect to a fixed reference frame. These two points may be identified as forming the crossing. The alpha loop may form to different sides of the crossing in the patient coordinate space. Based on the position measurements for points 910-1, 910-2 ……910-N along the flexible elongate device 310 located between the two positions forming the crossing, it can be determined to which side of the crossing the alpha loop is formed. [00254] In some embodiments, the monitoring of the bend geometry may run periodically (for example at 10 Hz) in parallel to the velocity monitoring. [00255] Based on the determined bend geometry, a resolution movement of the flexible elongate device 310 may be determined. In some embodiments, the resolution movement comprises a direction and/or a magnitude of movement of the proximal end portion 316 about the roll axis (CC or CCW) or along the insertion axis that is sufficient to at least partially resolve the bend. From the determined direction and magnitude of movement of the proximal end portion 316 about the roll axis or along the insertion axis, the resolution movement, and hence the bend resolution command, may be determined. [00256] In some embodiments, the bend in FIG.10B may also be resolved by combined movements of the flexible elongate device 310 about the roll axis and along the insertion axis in a retraction direction. In some embodiments, the bend resolution command indicates or causes a resolution movement of the flexible elongate device 310 about both the roll axis and the insertion axis of the flexible elongate device 310. [00257] In some embodiments, the bend resolution command indicates a direction and a magnitude of the resolution movement, where both the direction and the magnitude are determined based on the bend geometry. [00258] In some embodiments, the bend resolution command may include an anchoring command. In some embodiments, the anchoring command may cause or assist the anchoring of the distal end portion 318 to a portion of the anatomy before performing the movement caused by the bend resolution command. [00259] In some embodiments, the anchoring command causes an anchoring movement of the distal end portion 318 of the flexible elongate device so as to restrict further movement of the distal end portion 318 during execution of the bend resolution command. [00260] In some embodiments, the anchoring command may cause a movement of the distal end portion 318 to articulate the distal end portion 318, to roll the distal end portion 318, to provide a linear movement of the distal end portion 318 in the distal direction, or a combination of these movements. [00261] In some embodiments, anchoring may not be needed. For example, if there is sufficient friction between the flexible elongate device 310 and the tissue, then the bend resolution command may resolve the bend, or partially resolve the bend, without the need for anchoring of the distal end portion 318. [00262] In some embodiments, a medical system 100 may include a bend resolution button configured to be selected or deselected by the user. The bend resolution button may be a physical button or a button on a graphical user interface (GUI) configured to have an ON or OFF state. The bend resolution button has an ON state only when a user is actively pushing or selecting the bend resolution button. When the user is not actively touching the bend resolution button, the bend resolution button is an OFF state. In some embodiments, movement of the flexible elongate device due to the bend resolution command only occurs when the bend resolution button is in an ON state, i.e. while a user is actively pressing or selecting the button. [00263] In some embodiments, the bend resolution command is configured to cause a resolution movement concurrently with , or superimposed on, a movement indicated by a user of the flexible elongate device 310 using a control device for controlling the manipulator assembly 102, such as joysticks, trackballs, scroll wheels, directional pads, buttons, data gloves, trigger-guns, hand-operated controllers, voice recognition devices, motion or presence sensors, and/or the like. For example, as a user of the flexible elongate device 310 uses a scroll wheel to control an insertion or retraction of the flexible elongate device 310 along the insertion axis, a resolution movement comprising of a roll of the flexible elongate device 310 about the roll axis may be concurrently performed to at least partially resolve the bend. In some embodiments, the direction and magnitude of the resolution movement further depends on a direction and magnitude of the movement indicated by the user using the control device, such as the scroll-wheel. For example, if the movement indicated by the user using the control device is an insertion movement along the insertion axis, then it may be identified that a roll of the flexible elongated device 310 anticlockwise about the roll axis may result in partially resolving the bend. [00264] In some embodiments, the bend resolution command may cause instructions to be communicated to a user of the flexible elongated device 310 via a communications system such as the display system 310, speakers or tactile feedback devices. The instructions may identify the resolution movement of the flexible elongated device 310 that can be executed to resolve or partially resolve the bend. The instructions can guide a user to perform the movement of the flexible elongate device 310 to resolve or partially resolve the bend in the flexible elongate device 310. According to some embodiments, the proximal velocity of the proximal end portion 316 and the distal velocity of the distal end portion 318 may be continuously monitored during operation of the medical system 100. During execution of the bend resolution command or anchoring command or after execution of the bend resolution command or anchoring command, a further proximal velocity of the proximal end portion 316 and a further distal velocity of the distal end portion 318 may be determined. Based on the further proximal velocity and the further distal velocity, the bend resolution command may be adjusted. [00265] For example, during or following execution of the anchoring command, a further distal velocity of the distal end portion 318 may be used to determine if movement of the distal end portion 318 has been sufficiently restricted. For example, by comparing the further distal velocity to a threshold it may be determined that the distal end portion 318 is not sufficiently restricted, and the anchoring command may be adjusted accordingly. [00266] For example, during execution of the bend resolution command to perform a resolution movement to resolve the bend, the sensor or sensor system may be used to monitor the geometry of the bend (as described above). Based on the geometry of the bend it may be determined if the resolution movement is sufficiently resolving or partially resolving the bend in the flexible elongate device 310 and if not the bend resolution command may be updated to updated or change the resolution movement of the flexible elongate device 310.During execution of the command, new positions of each of the plurality of device points along the flexible elongate device 310 may be determined, and at least one new curvature metric may be measured, as described above, to determine if the command is resolving the bend. For example, referring to FIG. 10B, a curvature metric with respect to points A and B may be determined as described previously. If the curvature metric compared to before the movement (FIG. 10B) to the curvature metric calculated during the movement (for example FIG. 10A) is shown to change with respect to a predetermined threshold, then it may be determined if the resolution movement is resolving the bend, and the command may be adjusted accordingly. [00267] FIGs. 11 shows a flowchart of a method for identifying a bend, in accordance with embodiments of the disclosure. The methods may be implemented using instructions stored on a non-transitory medium that may be executed by a computing system, e.g., the computing system 120 ion FIG. 1. [00268] While the various blocks in FIG. 11 is presented and described sequentially, some or all of the blocks may be executed in different orders, may be combined or omitted, and some or all of the blocks may be executed in parallel. Furthermore, the blocks may be performed actively or passively. [00269] Turning to FIG. 11, in block 1100, a sensor system determines a proximal velocity of a proximal end portion of a flexible elongate device and a distal velocity of a distal end portion of the flexible elongate device. [00270] In block 1102, a control system identifies, based on the proximal velocity and the distal velocity, a bend formed by the flexible elongate device. In block, 1104, In response to identifying the bend the control system provides an indication to a user that the bend has been identified [00271] Those skilled in the art, having benefit of this disclosure, will appreciate that various other embodiments may be devised without departing from the scope of the present disclosure and that some or all of the blocks may be executed in different orders, combined, and/or omitted. [00272] Although the above methods have been described with respect to a limited number of examples and operations, those skilled in the art, having benefit of this disclosure, will appreciate that various other embodiments may be devised without departing from the scope of the present disclosure. [00273] Furthermore, while the various blocks in the flowcharts are presented and described sequentially, one of ordinary skill in the art will appreciate that some or all of the blocks may be executed in different orders, combined, omitted, and some or all of the blocks may be executed in parallel. [00274] Particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. For example, the actions recited in the claims can be performed in a different order and still achieve desirable results. As one example, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking and parallel processing may be advantageous. [00275] Although the disclosure has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this disclosure, will appreciate that various other embodiments may be devised without departing from the scope of the present invention. Accordingly, the scope of the invention should be limited only by the attached claims.

Claims

CLAIMS What is claimed is: 1. A medical system comprising: a manipulator assembly configured to drive movement of a flexible elongate device; a proximal sensor configured to generate proximal position information of a proximal portion of the flexible elongate device; a distal sensor configured to generate distal position information of a distal portion of the flexible elongate device, the distal portion of the flexible elongate device being distal to the proximal portion of the flexible elongate device; and a control system configured to: identify a resolution of a buckled state in the flexible elongate device based on the proximal position information and the distal position information; and in response to identifying the resolution of the buckled state, at least one of: (a) provide an indication of the resolution of the buckled state; or (b) transmit a command to the manipulator assembly to control the flexible elongate device.

2. The medical system of claim 1, wherein the resolution of the buckled state is an unintended resolution.

3. The medical system of claim 1, wherein the distal sensor is a shape sensor of the flexible elongate device.

4. The medical system of claim 3, wherein the proximal sensor and the distal sensor are a proximal portion and a distal portion of a shape sensor, respectively.

5. The medical system of claim 1, wherein the distal sensor includes one or more position sensors disposed along a length of the flexible elongate device.

6. The medical system of claim 1, wherein the distal sensor includes a fluoroscopy device that images the flexible elongate device.

7. The medical system of claim 1, wherein the distal sensor includes an imaging sensor.

8. The medical system of claim 1, wherein the proximal sensor is an encoder that measures insertion or retraction of the proximal portion of the flexible elongate device by the manipulator assembly; and the distal sensor is one of a shape sensor or an electromagnetic (EM) sensor that measures movement of a distal tip of the flexible elongate device.

9. The medical system according to any of claims 1-8, wherein the proximal sensor is a first type of sensor; and the distal sensor is a second type of sensor different from the first type of sensor.

10. The medical system according to any of claims 1-8, wherein the control system is configured to identify the resolution of the buckled state based on a comparison between the proximal position information and the distal position information.

11. The medical system of claim 10, wherein the control system is configured to: determine a change in a proximal position over a time window, determine a change in a distal position over the time window, and identify the resolution of the buckled state based on the change in the proximal position being smaller than the change in the distal position within the time window.

12. The medical system of claim 11, wherein the control system is configured to determine a curvature of the flexible elongate device between the proximal portion and the distal portion; the control system is configured to identify the resolution of the buckled state based on the curvature being less than a curvature threshold.

13. The medical system of claim 12, wherein the proximal sensor generates sensor data used by the control system to determine the curvature.

14. The medical system of claim 12, further comprising: a third sensor that is separate from the proximal sensor and the distal sensor and that generates sensor data used by the control system to determine the curvature.

15. The medical system according to any of claims 1-8, wherein the control system is configured to identify the resolution of the buckled state based on prior identification of the buckled state.

16. The medical system of claim 15, wherein the prior identification of the buckled state is based on the proximal position information and the distal position information.

17. The medical system according to any of claims 1-8, further comprising: a display, wherein the indication of the resolution of the buckled state is provided to the display.

18. The medical system according to any of claims 1-8, wherein the indication of the resolution of the buckled state includes an audio indication.

19. The medical system according to any of claims 1-8, wherein the control system is configured to transmit the command to the manipulator assembly, and the command causes the manipulator assembly to retract the flexible elongate device.

20. The medical system of claim 19, wherein the manipulator assembly retracts the flexible elongate device by an amount that at least partially offsets an insertion distance of the distal portion caused by the resolution of the buckled state.

21. The medical system according to any of claims 1-8, wherein the control system is configured to transmit the command to the manipulator assembly, and the command disables motion of the flexible elongate device.

22. The medical system according to any of claims 1-8, wherein the control system is configured to transmit the command to the manipulator assembly, and the command reduces rigidity of the distal portion of the flexible elongate device.

23. The medical system according to any of claims 1-8, wherein the control system is configured to transmit the command to the manipulator assembly, and the command prevents operation of an instrument disposed at the distal portion of the flexible elongate device.

24. A medical system comprising: a manipulator assembly configured to drive movement of a flexible elongate device; a proximal sensor configured to generate proximal position information of a proximal portion of the flexible elongate device; a distal sensor configured to generate distal position information of a distal portion of the flexible elongate device, the distal portion of the flexible elongate device being distal to the proximal portion of the flexible elongate device; and a control system configured to: identify a buckled state in the flexible elongate device based on the proximal position information and the distal position information; and in response to identifying the buckled state, at least one of: (a) provide an indication of the buckled state; or (b) transmit a command to the manipulator assembly to control the flexible elongate device.

25. The medical system of claim 24, wherein the distal sensor is a shape sensor of the flexible elongate device.

26. The medical system of claim 24, wherein the proximal sensor and the distal sensor are a proximal portion and a distal portion of a shape sensor, respectively.

27. The medical system of claim 24, wherein the distal sensor includes one or more position sensors disposed along a length of the flexible elongate device.

28. The medical system of claim 24, wherein the distal sensor includes a fluoroscopy device that images the flexible elongate device.

29. The medical system of claim 24, wherein the distal sensor includes an imaging sensor.

30. The medical system of claim 24, wherein the proximal sensor is an encoder that measures insertion or retraction of the proximal portion of the flexible elongate device by the manipulator assembly; and the distal sensor is one of a shape sensor or an electromagnetic (EM) sensor that measures movement of a distal tip of the flexible elongate device.

31. The medical system according to any of claims 24-30, wherein the proximal sensor is a first type of sensor; and the distal sensor is a second type of sensor different from the first type of sensor.

32. The medical system according to any of claims 24-30, wherein the control system is configured to identify the buckled state based on a comparison between the proximal position information and the distal position information.

33. The medical system of claim 32, wherein the control system is configured to: determine a change in a proximal position over a time window, determine a change in a distal position over the time window, and identify the buckled state based on the change in the proximal position being larger than the change in the distal position within the time window.

34. The medical system of claim 33, wherein the control system is configured to determine a curvature of the flexible elongate device between the proximal portion and the distal portion; the control system is configured to identify the buckled state based on the curvature being greater than a curvature threshold.

35. The medical system of claim 34, wherein the proximal sensor generates sensor data used by the control system to determine the curvature.

36. The medical system of claim 34, further comprising: a third sensor that is separate from the proximal sensor and the distal sensor and that generates sensor data used by the control system to determine the curvature.

37. The medical system according to any of claims 24-30, further comprising: a display, wherein the indication of the buckled state is provided to the display.

38. The medical system according to any of claims 24-30, wherein the indication of the buckled state includes an audio indication.

39. The medical system according to any of claims 24-30, wherein the control system is configured to transmit the command to the manipulator assembly, and the command disables motion of the flexible elongate device.

40. The medical system according to any of claims 24-30, wherein the control system is configured to transmit the command to the manipulator assembly, and the command reduces rigidity of the distal portion of the flexible elongate device.

41. The medical system according to any of claims 24-30, wherein the control system is configured to transmit the command to the manipulator assembly, and the command disables motion of the manipulator assembly at the proximal portion of the flexible elongate device.

42. The medical system according to any of claims 24-30, wherein the control system is configured to transmit the command to the manipulator assembly, and the command prevents operation of an instrument disposed at the distal portion of the flexible elongate device.

43. The medical system according to any of claims 24-30, wherein the control system is configured to determine a type of procedure in progress after identifying the buckled state, the control system is configured to transmit the command to the manipulator assembly, where the command is based on the type of procedure.

44. The medical system according to any of claims 24-30, wherein the control system is configured to transmit the command to the manipulator assembly, and the command modifies a gain setting of a control element corresponding to motion of the flexible elongate device.

45. The medical system of claim 44, wherein the gain setting corresponds to motion of the distal portion of the flexible elongate device.

46. The medical system of claim 44, wherein the gain setting corresponds to insertion or retraction motion of the proximal portion of the flexible elongate device.

47. The medical system according to any of claims 24-30, wherein the control system is configured to transmit the command to the manipulator assembly, and the command causes dithering of the flexible elongate device.

48. The medical system of claim 47, wherein the command causes dithering by inserting and retracting the proximal portion of the flexible elongate device.

49. The medical system of claim 47, wherein the command causes dithering by flexing the distal portion of the flexible elongate device.

50. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions executed by one or more processors associated with a medical system including a manipulator assembly configured to drive movement of a flexible elongate device, a proximal sensor configured to generate proximal position information of a proximal portion of the flexible elongate device, and a distal sensor configured to generate distal position information of a distal portion of the flexible elongate device, the distal portion of the flexible elongate device being distal to the proximal portion of the flexible elongate device, the plurality of machine-readable instructions causing the one or more processors to: identify a resolution of a buckled state in the flexible elongate device based on the proximal position information and the distal position information; and in response to identifying the resolution of the buckled state, at least one of: (a) provide an indication of the resolution of the buckled state; or (b) transmit a command to the manipulator assembly to control the flexible elongate device.

51. The non-transitory machine-readable medium of claim 50, wherein the resolution of the buckled state is an unintended resolution.

52. The non-transitory machine-readable medium of claim 50, wherein the distal sensor is a shape sensor of the flexible elongate device.

53. The non-transitory machine-readable medium of claim 52, wherein the proximal sensor and the distal sensor are a proximal portion and a distal portion of a shape sensor, respectively.

54. The non-transitory machine-readable medium of claim 50, wherein the distal sensor includes one or more position sensors disposed along a length of the flexible elongate device.

55. The non-transitory machine-readable medium of claim 50, wherein the distal sensor includes a fluoroscopy device that images the flexible elongate device.

56. The non-transitory machine-readable medium of claim 50, wherein the distal sensor includes an imaging sensor.

57. The non-transitory machine-readable medium of claim 50, wherein the proximal sensor is an encoder that measures insertion or retraction of the proximal portion of the flexible elongate device by the manipulator assembly; and the distal sensor is one of a shape sensor or an electromagnetic (EM) sensor that measures movement of a distal tip of the flexible elongate device.

58. The non-transitory machine-readable medium according to any of claims 50-57, wherein the proximal sensor is a first type of sensor; and the distal sensor is a second type of sensor different from the first type of sensor.

59. The non-transitory machine-readable medium according to any of claims 50-57, the plurality of machine-readable instructions further causing the one or more processors to: identify the resolution of the buckled state based on a comparison between the proximal position information and the distal position information.

60. The non-transitory machine-readable medium of claim 59, the plurality of machine- readable instructions further causing the one or more processors to: determine a change in a proximal position over a time window, determine a change in a distal position over the time window, and identify the resolution of the buckled state based on the change in the proximal position being smaller than the change in the distal position within the time window.

61. The non-transitory machine-readable medium of claim 60, the plurality of machine- readable instructions further causing the one or more processors to: determine a curvature of the flexible elongate device between the proximal portion and the distal portion; identify the resolution of the buckled state based on the curvature being less than a curvature threshold.

62. The non-transitory machine-readable medium of claim 61, wherein the proximal sensor generates sensor data used to determine the curvature.

63. The non-transitory machine-readable medium of claim 61, wherein the medical system further comprises: a third sensor that is separate from the proximal sensor and the distal sensor and that generates sensor data used to determine the curvature.

64. The non-transitory machine-readable medium according to any of claims 50-57, the plurality of machine-readable instructions further causing the one or more processors to: identify the resolution of the buckled state based on prior identification of the buckled state.

65. The non-transitory machine-readable medium of claim 64, wherein the prior identification of the buckled state is based on the proximal position information and the distal position information.

66. The non-transitory machine-readable medium according to any of claims 50-57, the medical system further comprises a display, and wherein the indication of the resolution of the buckled state is provided to the display.

67. The non-transitory machine-readable medium according to any of claims 50-57, wherein the indication of the resolution of the buckled state includes an audio indication.

68. The non-transitory machine-readable medium according to any of claims 50-57, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, wherein the command causes the manipulator assembly to retract the flexible elongate device.

69. The non-transitory machine-readable medium of claim 68, wherein the manipulator assembly is configured to retract the flexible elongate device by an amount that at least partially offsets an insertion distance of the distal portion caused by the resolution of the buckled state.

70. The non-transitory machine-readable medium according to any of claims 50-57, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, and the command disables motion of the flexible elongate device.

71. The non-transitory machine-readable medium according to any of claims 50-57, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, wherein the command reduces rigidity of the distal portion of the flexible elongate device.

72. The non-transitory machine-readable medium according to any of claims 50-57, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, wherein the command prevents operation of an instrument disposed at the distal portion of the flexible elongate device.

73. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions executed by one or more processors associated with a medical system including a manipulator assembly configured to drive movement of a flexible elongate device, a proximal sensor configured to generate proximal position information of a proximal portion of the flexible elongate device, and a distal sensor configured to generate distal position information of a distal portion of the flexible elongate device, the distal portion of the flexible elongate device being distal to the proximal portion of the flexible elongate device, the plurality of machine-readable instructions causing the one or more processors to: identify a buckled state in the flexible elongate device based on the proximal position information and the distal position information; and in response to identifying the buckled state, at least one of: (a) provide an indication of the buckled state; or (b) transmit a command to the manipulator assembly to control the flexible elongate device.

74. The non-transitory machine-readable medium of claim 73, wherein the distal sensor is a shape sensor of the flexible elongate device.

75. The non-transitory machine-readable medium of claim 73, wherein the proximal sensor and the distal sensor are a proximal portion and a distal portion of a shape sensor, respectively.

76. The non-transitory machine-readable medium of claim 73, wherein the distal sensor includes one or more position sensors disposed along a length of the flexible elongate device.

77. The non-transitory machine-readable medium of claim 73, wherein the distal sensor includes a fluoroscopy device that images the flexible elongate device.

78. The non-transitory machine-readable medium of claim 73, wherein the distal sensor includes an imaging sensor.

79. The non-transitory machine-readable medium of claim 73, wherein the proximal sensor is an encoder that measures insertion or retraction of the proximal portion of the flexible elongate device by the manipulator assembly; and the distal sensor is one of a shape sensor or an electromagnetic (EM) sensor that measures movement of a distal tip of the flexible elongate device.

80. The non-transitory machine-readable medium according to any of claims 73-79, wherein the proximal sensor is a first type of sensor; and the distal sensor is a second type of sensor different from the first type of sensor.

81. The non-transitory machine-readable medium according to any of claims 73-79, the plurality of machine-readable instructions further causing the one or more processors to: identify the buckled state based on a comparison between the proximal position information and the distal position information.

82. The non-transitory machine-readable medium of claim 81, the plurality of machine- readable instructions further causing the one or more processors to: determine a change in a proximal position over a time window, determine a change in a distal position over the time window, and identify the buckled state based on the change in the proximal position being larger than the change in the distal position within the time window.

83. The non-transitory machine-readable medium of claim 82, the plurality of machine- readable instructions further causing the one or more processors to: determine a curvature of the flexible elongate device between the proximal portion and the distal portion; and identify the buckled state based on the curvature being greater than a curvature threshold.

84. The non-transitory machine-readable medium of claim 83, wherein the proximal sensor generates sensor data used to determine the curvature.

85. The non-transitory machine-readable medium of claim 83, the medical system further comprising: a third sensor that is separate from the proximal sensor and the distal sensor and that generates sensor data used to determine the curvature.

86. The non-transitory machine-readable medium according to any of claims 73-79, the medical system further comprising a display, and wherein the indication of the buckled state is provided to the display.

87. The non-transitory machine-readable medium according to any of claims 73-79, wherein the indication of the buckled state includes an audio indication.

88. The non-transitory machine-readable medium according to any of claims 73-79, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, wherein the command disables motion of the flexible elongate device.

89. The non-transitory machine-readable medium according to any of claims 73-79, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, wherein the command reduces rigidity of the distal portion of the flexible elongate device.

90. The non-transitory machine-readable medium according to any of claims 73-79, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, wherein the command disables motion of the manipulator assembly at the proximal portion of the flexible elongate device.

91. The non-transitory machine-readable medium according to any of claims 73-79, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, wherein the command prevents operation of an instrument disposed at the distal portion of the flexible elongate device.

92. The non-transitory machine-readable medium according to any of claims 73-79, the plurality of machine-readable instructions further causing the one or more processors to: determine a type of procedure in progress after identifying the buckled state, transmit the command to the manipulator assembly, where the command is based on the type of procedure.

93. The non-transitory machine-readable medium according to any of claims 73-79, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, wherein the command modifies a gain setting of a control element corresponding to motion of the flexible elongate device.

94. The non-transitory machine-readable medium of claim 93, wherein the gain setting corresponds to motion of the distal portion of the flexible elongate device.

95. The non-transitory machine-readable medium of claim 93, wherein the gain setting corresponds to insertion or retraction motion of the proximal portion of the flexible elongate device.

96. The non-transitory machine-readable medium according to any of claims 73-79, the plurality of machine-readable instructions further causing the one or more processors to: transmit the command to the manipulator assembly, wherein the command causes dithering of the flexible elongate device.

97. The non-transitory machine-readable medium of claim 96, wherein the command causes dithering by inserting and retracting the proximal portion of the flexible elongate device.

98. The non-transitory machine-readable medium of claim 96, wherein the command causes dithering by flexing the distal portion of the flexible elongate device.

99. A method of operating a medical system including a manipulator assembly configured to drive movement of a flexible elongate device, a proximal sensor configured to generate proximal position information of a proximal portion of the flexible elongate device, and a distal sensor configured to generate distal position information of a distal portion of the flexible elongate device, the distal portion of the flexible elongate device being distal to the proximal portion of the flexible elongate device; and a control system communicatively coupled to the manipulator assembly, the method comprising: identify a resolution of a buckled state in the flexible elongate device based on the proximal position information and the distal position information; and in response to identifying the resolution of the buckled state, at least one of: (a) provide an indication of the resolution of the buckled state; or (b) transmit a command to the manipulator assembly to control the flexible elongate device.

100. A method of operating a medical system including a manipulator assembly configured to drive movement of a flexible elongate device, a proximal sensor configured to generate proximal position information of a proximal portion of the flexible elongate device, and a distal sensor configured to generate distal position information of a distal portion of the flexible elongate device, the distal portion of the flexible elongate device being distal to the proximal portion of the flexible elongate device; and a control system communicatively coupled to the manipulator assembly, the method comprising: identify a buckled state in the flexible elongate device based on the proximal position information and the distal position information; and in response to identifying the buckled state, at least one of: (a) provide an indication of the buckled state; or (b) transmit a command to the manipulator assembly to control the flexible elongate device.

101. A medical system comprising: a manipulator assembly configured to drive movement of a flexible elongate device along at least one axis of motion; a sensor system configured to determine a proximal velocity of a proximal end portion of the flexible elongate device and a distal velocity of a distal end portion of the flexible elongate device; and a control system coupled to the manipulator assembly and the sensor system, the control system configured to: identify, based on the proximal velocity and the distal velocity, a bend formed by the flexible elongate device; and in response to identifying the bend, provide an indication to a user of the medical system that the bend has been identified.

102. The medical system according to claim 101, wherein the bend is identified based on a difference or ratio between the proximal velocity and the distal velocity.

103. The medical system according to claim 102, wherein the bend is identified by comparing the difference or the ratio with a threshold value.

104. The medical system according to claim 101, the control system further configured to: determine an insertion position of the flexible elongate device, based on the proximal velocity; determine a distal tip position of the flexible elongate device based on the distal velocity; and identify the bend based on the insertion position and the distal tip position.

105. The medical system according to claim 101, wherein the proximal velocity and the distal velocity are linear velocities.

106. The medical system according to claim 101, wherein the at least one axis of motion is an insertion axis, wherein the proximal velocity is a linear velocity of the proximal end portion of the flexible elongate device along the insertion axis.

107. The medical system according to claim 101, wherein the proximal velocity and the distal velocity are angular velocities.

108. The medical system according to claim 101, wherein the at least one axis of motion is an articulation axis, wherein the proximal velocity is an angular velocity of the proximal end portion of the flexible elongate device along the articulation axis.

109. The medical system according to claim 101, wherein both the proximal velocity and the distal velocity comprise a linear velocity and an angular velocity.

110. The medical system according to claim 101, wherein the at least one axis of motion comprises an insertion axis and an articulation axis, wherein the proximal velocity comprises an angular velocity of the proximal end portion of the flexible elongate device along the articulation axis and a linear velocity of the proximal end portion of the flexible elongate device along the insertion axis.

111. The medical system according to claim 101, the control system further configured to: identify, based on the proximal velocity, the distal velocity and at least one predetermined threshold, a state of the bend formed by the flexible elongate device, wherein the indication to the user comprises an indication of the state of the bend.

112. The medical system according to claim 101, the sensor system further configured to determine a position of each of a plurality of device points along the flexible elongate device; and the control system further configured to: determine a plurality of curvature metrics, using the positions of each of the plurality of device points; and identify a location of the bend along a length of the flexible elongate device using the plurality of curvature metrics.

113. The medical system according to claim 112, wherein each curvature metric is determined based a straight line distance between a pair of points and a device length distance along the flexible elongate device between the pair of points, the straight line distance and the device length distance determined using positions of each point of the pair of points.

114. The medical system according to claim 113, the control system further configured to: determine the pair of positions for which the curvature metric satisfies a predetermined condition; and identify the location of the bend as being between the pair of positions.

115. The medical system according to claim 114, wherein the predetermined condition indicates that the device length distance exceeds the straight line distance by a predetermined distance.

116. The medical system of claim 115, wherein the control system is further configured to: provide, on a display system, a graphic illustrating a shape of the flexible elongate device; and indicating on the graphic the location of the bend.

117. The medical system according to claim 101, wherein the control system is further configured to: in response to identifying a bend, transmit a command to the manipulator assembly to control the flexible elongate device.

118. The medical system according to claim 117, wherein the command disables motion of the flexible elongate device.

119. The medical system according to claim 117, wherein the command comprises a bend resolution command that causes a resolution movement of the flexible elongate device along at least one axis of motion, wherein the resolution movement resolves or partially resolves the bend.

120. The medical system according to claim 119, the medical system further comprising a resolution button configured to be in an ON state when a user is actively pushing the resolution button, wherein the bend resolution command is executed by the manipulator assembly only when the resolution button is in an ON state.

121. The medical system according to claim 119, wherein the command comprise a bend resolution command to perform a resolution of the flexible elongated device along at least one axis of motion concurrently with a user-controlled movement of the flexible elongated device.

122. The medical system according to claim 119, wherein the resolution movement comprises a retraction movement of the flexible elongate device about an insertion axis of the flexible elongate device.

123. The medical system according to claim 119, wherein the resolution movement comprises a roll movement of the flexible elongate device about a roll axis of the flexible elongate device.

124. The medical system according to claim 119, wherein the command further comprises an anchoring command that causes an anchoring movement of the distal end portion of the flexible elongate device so as to restrict further movement of the distal end portion during execution of the bend resolution command.

125. The medical system according to claim 124, wherein the anchoring movement is an articulation movement or a roll movement.

126. The medical system according to claim 117, the sensor system further configured to: during or following execution of the command, determine a further proximal velocity of the proximal end portion and a further distal velocity of the distal end portion; the control system further configured to: adjust the command based on the further proximal velocity and the further distal velocity.

127. The medical system according to claim 124, the sensor system further configured to: during or following execution of the command determine a new position of each of a plurality of device points along the flexible elongate device; and the control system further configured to: determine a plurality of new curvature metrics, using the new positions of each of the plurality of device points; and adjust the command based on the new curvature metrics.

128. The medical system according to claim 101, wherein the sensor system comprises a fiber shape sensor disposed within an interior channel of the flexible elongate device.

129. The medical system according to claim 101, wherein the sensor system comprises one or more position sensors disposed along a length of the flexible elongate device.

130. The medical system according to claim 101, wherein the sensor system comprises a fluoroscopy device that images the flexible elongate device.

131. The medical system according to claim 101, wherein the sensor system comprises a position sensor, disposed on the distal end portion of the flexible elongate device, coupled with a processor that reconstructs a shape of the flexible elongate device based on movement of the distal end portion of the flexible elongate device.

132. The medical system according to claim 101, the sensor system includes an imaging sensor coupled with a processor that reconstructs a shape of the flexible elongate device based on imagery from the imaging sensor and a map of an insertion region.

133. A non-transitory machine readable medium comprising a plurality of machine-readable instructions executed by one or more processors associated with a medical system including a manipulator assembly configured to drive movement of a flexible elongate device along at least one axis of motion, a sensor system configured to determine a proximal velocity of a proximal end portion of the flexible elongate device and a distal velocity of a distal end portion of the flexible elongate device, the plurality of machine-readable instructions causing the one or more processors to: identify, based on the proximal velocity and the distal velocity, a bend formed by the flexible elongate device; and in response to identifying the bend, provide an indication to a user of the medical system that the bend has been identified.

134. The non-transitory machine readable medium according to claim 133, wherein the bend is identified based on a difference or ratio between the proximal velocity and the distal velocity.

135. The non-transitory machine readable medium according to claim 134, wherein the bend is identified by comparing the difference or the ratio with a threshold value.

136. The non-transitory machine readable medium according to claim 133, the plurality of machine-readable instructions further causing the one or more processors to: determine an insertion position of the flexible elongate device, based on the proximal velocity; determine a distal tip position of the flexible elongate device based on the distal velocity; and identify the bend based on the insertion position and the distal tip position.

137. The non-transitory machine readable medium according to claim 133, wherein the proximal velocity and the distal velocity are linear velocities.

138. The non-transitory machine readable medium according to claim 133, wherein the at least one axis of motion is an insertion axis, wherein the proximal velocity is a linear velocity of the proximal end portion of the flexible elongate device along the insertion axis.

139. The non-transitory machine readable medium according to claim 133, wherein the proximal velocity and the distal velocity are angular velocities.

140. The non-transitory machine readable medium according to claim 133, wherein the at least one axis of motion is an articulation axis, wherein the proximal velocity is an angular velocity of the proximal end portion of the flexible elongate device along the articulation axis.

141. The non-transitory machine readable medium according to claim 133, wherein both the proximal velocity and the distal velocity comprise a linear velocity and an angular velocity.

142. The non-transitory machine readable medium according to claim 133, wherein the at least one axis of motion comprises an insertion axis and an articulation axis, wherein the proximal velocity comprises an angular velocity of the proximal end portion of the flexible elongate device along the articulation axis and a linear velocity of the proximal end portion of the flexible elongate device along the insertion axis.

143. The non-transitory machine readable medium according to claim 133, the plurality of machine-readable instructions further causing the one or more processors to: identify, based on the proximal velocity, the distal velocity and at least one predetermined threshold, a state of the bend formed by the flexible elongate device, wherein the indication to the user comprises an indication of the state of the bend.

144. The non-transitory machine readable medium according to claim 133, the sensor system further configured to determine a position of each of a plurality of device points along the flexible elongate device; and the plurality of machine-readable instructions further causing the one or more processors to: determine a plurality of curvature metrics, using the positions of each of the plurality of device points; and identify a location of the bend along a length of the flexible elongate device using the plurality of curvature metrics.

145. The non-transitory machine readable medium according to claim 144, wherein each curvature metric is determined based a straight line distance between a pair of points and a device length distance along the flexible elongate device between the pair of points, the straight line distance and the device length distance determined using positions of each point of the pair of points.

146. The non-transitory machine readable medium according to claim 145, the plurality of machine-readable instructions further causing the one or more processors to: determine the pair of positions for which the curvature metric satisfies a predetermined condition; and identify the location of the bend as being between the pair of positions.

147. The non-transitory machine readable medium according to claim 146, wherein the predetermined condition indicates that the device length distance exceeds the straight line distance by a predetermined distance.

148. The non-transitory machine readable medium of claim 147, the plurality of machine- readable instructions further causing the one or more processors to: provide, on a display system, a graphic illustrating a shape of the flexible elongate device; and indicating on the graphic the location of the bend.

149. The non-transitory machine readable medium according to claim 133, the plurality of machine-readable instructions further causing the one or more processors to: in response to identifying a bend, transmit a command to the manipulator assembly to control the flexible elongate device.

150. The non-transitory machine readable medium according to claim 149, wherein the command disables motion of the flexible elongate device.

151. The non-transitory machine readable medium according to claim 149, wherein the command comprises a bend resolution command that causes a resolution movement of the flexible elongate device along at least one axis of motion, wherein the resolution movement resolves or partially resolves the bend.

152. The non-transitory machine readable medium according to claim 151, the medical system further comprising a resolution button configured to be in an ON state when a user is actively pushing the resolution button, wherein the bend resolution command is executed by the manipulator assembly only when the resolution button is in an ON state.

153. The non-transitory machine readable medium according to claim 151, wherein the command comprises a bend resolution command to perform a resolution of the flexible elongated device along at least one axis of motion concurrently with a user-controlled movement of the flexible elongated device.

154. The non-transitory machine readable medium according to claim 151, wherein the resolution movement comprises a retraction movement of the flexible elongate device about an insertion axis of the flexible elongate device.

155. The non-transitory machine readable medium according to claim 151, wherein the resolution movement comprises a roll movement of the flexible elongate device about a roll axis of the flexible elongate device.

156. The non-transitory machine readable medium according to claim 151, wherein the command further comprises an anchoring command that causes an anchoring movement of the distal end portion of the flexible elongate device so as to restrict further movement of the distal end portion during execution of the bend resolution command.

157. The non-transitory machine readable medium according to claim 156, wherein the anchoring movement is an articulation movement or a roll movement.

158. The non-transitory machine readable medium according to claim 149, the sensor system further configured to: during or following execution of the command, determine a further proximal velocity of the proximal end portion and a further distal velocity of the distal end portion; the plurality of machine-readable instructions further causing the one or more processors to: adjust the command based on the further proximal velocity and the further distal velocity.

159. The non-transitory machine readable medium according to claim 156, the sensor system further configured to: during or following execution of the command determine a new position of each of a plurality of device points along the flexible elongate device; and the plurality of machine-readable instructions further causing the one or more processors to: determine a plurality of new curvature metrics, using the new positions of each of the plurality of device points; and adjust the command based on the new curvature metrics.

160. The non-transitory machine readable medium according to claim 133, wherein the sensor system comprises a fiber shape sensor disposed within an interior channel of the flexible elongate device.

161. The non-transitory machine readable medium according to claim 133, wherein the sensor system comprises one or more position sensors disposed along a length of the flexible elongate device.

162. The non-transitory machine readable medium according to claim 133, wherein the sensor system comprises a fluoroscopy device that images the flexible elongate device.

163. The non-transitory machine readable medium according to claim 133, wherein the sensor system comprises a position sensor, disposed on the distal end portion of the flexible elongate device, coupled with a processor that reconstructs a shape of the flexible elongate device based on movement of the distal end portion of the flexible elongate device.

164. The non-transitory machine readable medium according to claim 133, the sensor system includes an imaging sensor coupled with a processor that reconstructs a shape of the flexible elongate device based on imagery from the imaging sensor and a map of an insertion region.

165. A method of operating a medical system including a manipulator assembly configured to drive movement of a flexible elongate device along at least one axis of motion, a sensor system configured to determine a proximal velocity of a proximal end portion of the flexible elongate device and a distal velocity of a distal end portion of the flexible elongate device, and a control system coupled to the manipulator assembly and the sensor system, the method comprising: identifying, based on the proximal velocity and the distal velocity, a bend formed by the flexible elongate device; and in response to identifying the bend, providing an indication to a user of the medical system that the bend has been identified.