A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs) adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs determine, based on the position and the properties, first geometries of the first VCOs receive second geometries of one or more second VCOs associated with a second segment of a second device determine relationships between the first VCOs and the second VCOs and adjust, based on the relationships, a motion plan for the medical device.
