Restoring instrument control input position/orientation during midprocedure restart

A method for controlling a telesurgery system comprising:

• providing a surgical assembly comprising a motor and a surgical instrument, the surgical assembly having at least one drive mechanism driven by the motor, the surgical assembly further comprising a sensor assembly coupled to non-volatile memory, the sensor assembly for recording position of the at least one drive mechanism to the non-volatile memory,
• recording position of at least one drive mechanism to the non-volatile memory;
• initiating a mid-procedure shut-down of the surgical assembly;
• receiving a request to initiate a mid-procedure restart of the surgical assembly;
• determining whether a post-shutdown position of the at least one drive mechanism within an accepted tolerance with respect to a pre-shutdown position of the at least one drive mechanism to allow the mid-procedure restart to complete;
• and
• preventing or allowing further use of the surgical assembly based on determining whether the post-shutdown position of the at least one drive mechanism is within an accepted tolerance with respect to the pre-shutdown position, of the at least one drive mechanism.

A telesurgery system comprising:

• a surgical assembly comprising a motor, the surgical assembly having at least one drive mechanism driven by the motor;
• a sensor assembly coupled to non-volatile memory, the sensor assembly for recording position of the at least one drive mechanism to the non-volatile memory;
• and
• a controller communicatively coupled to the sensor assembly, the controller having at least one processor configured to execute a method comprising:
• recording a position of the at least one drive mechanism to the non-volatile memory during use of the surgical assembly;
• initiating a mid-procedure shut-down of the surgical assembly;
• receiving a request to initiate a mid-procedure restart of the surgical assembly;
• determining whether a post-shutdown position of the at least one drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the at least, one drive mechanism to allow the mid-procedure restart to complete, wherein the determining comprises checking an identity of a surgical instrument and validating authenticity of the post-shutdown position;
• and
• preventing or allowing further use of the surgical assembly based on determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance with respect to the pre-shutdown position of the at least one drive mechanism.