Systems and methods for instrument engagement

A computer-assisted device comprising:

• one or more processors;
• and
• an instrument manipulator configured to receive an instrument;
• wherein the one or more processors is configured to cause engagement of the instrument with the instrument manipulator by:
• receiving an indication that a first input coupling of the instrument is positioned adjacent to a first drive output of the manipulator, the first drive output configured to be driven by a first actuating element;
• in response to receiving the indication, rotating the first drive output in a first rotational direction;
• determining whether a first resistance is experienced by the first actuating element in response to rotating the first drive output in the first rotational direction;
• rotating the first drive output in a second rotational direction if the first resistance is not experienced by the first actuating element in response to rotating the first drive output in the first rotational direction;
• and
• determining whether a second resistance is experienced by the first actuating element in response to rotating the first drive output in the second rotational direction.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted medical device are adapted to cause the one or more processors to perform a method comprising:

• rotating, in a first rotational direction, a first drive output of a manipulator portion of the computer-assisted medical device, the first drive output driven by a first actuating element;
• determining whether a first resistance is experienced by the first actuating element after beginning the rotating the first drive output in the first rotational direction;
• rotating the first drive output in a second rotational direction on the condition that the first resistance is not experienced by the first actuating element after beginning the rotating the first drive output in the first rotational direction;
• and
• determining whether a second resistance is experienced by the first actuating element after beginning the rotating the first drive output in the second rotational direction.