In a robotic medical system comprising a staging kinematic chain coupled to a plurality of independently articulable robotic arms capable of motion with one or more degrees of freedom, a first configuration of robotic arms may be determined based on a first inverse kinematic model including the robotic arms and assuming a static staging kinematic chain. The first configuration may effectuate desired poses of instruments coupled to the robotic arms. A set of control parameter values associated with the robotic arms may be determined based on the first configuration, and, when a determined control parameter value falls outside a corresponding control parameter range, a staging kinematic chain pose and a second configuration of the robotic arms to effectuate the desired poses of the instruments may be determined. The second configuration is determined using a second inverse kinematic model that includes the robotic arms and assumes a mobile staging kinematic chain.
APPARATUS, SYSTEMS AND METHODS FOR DYNAMIC ONLINE KINEMATIC ADAPTATION OF MEDICAL ROBOTS