Systems and methods for docking medical instruments

A computer readable medium comprising instructions configured to cause at least one processor to:

• receive a torque signal from a torque sensor associated with a drive output of an instrument drive mechanism;
• activate a motor associated with the drive output to rotate the drive output in response to the torque signal from the torque sensor exceeding a threshold;
• and
• deactivate the motor to cause the motor to stop rotating the drive output in response to the torque signal from the torque sensor dropping below the threshold.

A robotic medical system, comprising:

• an instrument drive mechanism comprising
• a drive output configured to rotate and engage a corresponding drive input on a handle of a robotic medical instrument, wherein the robotic medical instrument comprises a pre-tensioned pull wire actuated by the drive input, and
• a motor associated with the drive output and configured to rotate the drive output, and
• a sensor configured to detect when the handle of the robotic medical instrument is within a threshold loading distance from the instrument drive mechanism;
• and
• at least one computer-readable memory in communication with at least one processor, the memory having stored thereon computer-executable instructions that cause the at least one processor to:
• determine that the robotic medical instrument is within the threshold loading distance of the instrument drive mechanism based on an output of the sensor, and
• activate the motor associated with the drive output to cause the drive output to oscillate to facilitate alignment of the drive output and the corresponding drive input.