Systems and methods for instrument engagement

A method of operating a medical system comprising a control system having one or more processors, an instrument, and an instrument manipulator configured to receive the instrument, the method comprising:

• receiving an indication that a first input coupling of the instrument is positioned adjacent to a first drive output of the manipulator, wherein the first drive output is configured to drive a first input coupling of the instrument;
• in response to receiving the indication, commanding a first actuating element of the manipulator to cause movement of the first drive output;
• receiving a feedback associated with a force experienced by the first drive output during the movement of the first drive output;
• determining an instruction signal for the first actuating element based on the feedback;
• and
• transmitting the instruction signal to the first actuating element.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which, when executed by one or more processors associated with a medical system comprising an instrument manipulator, are adapted to cause the one or more processors to perform a method comprising:

• receiving an indication that a first input coupling of the instrument is positioned adjacent to a first drive output of the manipulator, wherein the first drive output is configured to drive a first input coupling of the instrument;
• in response to receiving the indication, commanding a first actuating element of the manipulator to cause movement of the first drive output;
• receiving a feedback associated with a force experienced by the first actuating element during the movement of the first drive output;
• determining an instruction signal for the first actuating element based on the feedback;
• and
• transmitting the instruction signal to the first actuating element.