Engagement, homing, and control of robotics surgical instrument

A controller for a surgical tool driver, the controller comprising:

• one or more processors configured to:
• generate at least one actuation command for a rotary motor for a roll drive disk of the surgical tool driver;
• determine a motor operating parameter for the rotary motor;
• perform a current comparison of a measured current to a current threshold;
• start a counter in response to the measured current of the rotary motor exceeding the current threshold;
• perform a counter comparison of the counter to an engagement window defined by at least one system requirement or at least one clinical requirement;
• and
• generate data indicative of a successful engagement of the roll drive disk in response to the comparison.

A method for operation of a surgical tool driver, the method comprising:

• generating at least one actuation command for a rotary motor for a roll drive disk of the surgical tool driver;
• determining a motor operating parameter for the rotary motor;
• performing a current comparison of a measured current to a current threshold;
• starting a counter in response to the measured current of the rotary motor exceeding the current threshold;
• performing a counter comparison of the counter to an engagement window defined by at least one system requirement or at least one clinical requirement;
• and
• generating data indicative of a successful engagement of the roll drive disk in response to the current comparison and counter comparison.