Robotic surgical system with instrument bailout and lockout features

An apparatus, comprising:

• (a) an end effector configured to manipulate tissue;
• (b) a shaft assembly extending proximally from the end effector;
• (c) an instrument base, wherein a portion of the shaft assembly located proximally relative to the end effector extending through the instrument base, wherein the instrument base comprises at least one input assembly configured to operatively engage an output assembly of a robotic arm, wherein the at least one input assembly is configured to actuate to thereby control movement of the end effector, wherein the output assembly for the robotic arm is configured to drive actuation of the at least one input assembly;
• and
• (d) a two-stage bailout assembly configured to drive the output assembly of the robotic arm out of engagement with the at least one input assembly of the instrument base, wherein the two-stage bailout assembly comprises a user-input feature configured to actuate through a first range of motion in a first direction to render the two-stage bailout assembly operable, wherein the user-input feature is configured to actuate through a second range of motion in a second direction to drive the output assembly of the robotic arm out of engagement with the at least one input assembly of the instrument base, wherein the first direction of the first range of motion and the second direction of the second range of motion are different from each other.

An apparatus, comprising:

• (a) an end effector configured to manipulate tissue;
• (b) a shaft assembly extending proximally from the end effector;
• (c) an instrument base slidably housing the shaft assembly, wherein the instrument base comprises at least one input assembly configured to operatively engage an output assembly of a robotic arm, wherein the at least one input assembly is configured to actuate to thereby control movement of the end effector, wherein the output assembly for the robotic arm is configured to drive actuation of the at least one input assembly;
• and
• (d) a two-stage bailout assembly configured to remain inoperable until a first condition is satisfied such that the output assembly of the robotic arm and the at least one input assembly of the instrument base remain engaged with each other both prior to, and after, the first condition is satisfied, wherein the two-stage bailout assembly is configured to drive the output assembly of the robotic arm out of engagement with the at least one input assembly of the instrument base in response to a second condition being satisfied after the first condition is satisfied.