Shared-leg voltage source inverter

A surgical system comprising:

• a manipulator comprising a first link and an instrument carriage coupled to the first link, wherein the instrument carriage is configured to detachably mount an instrument to the instrument carriage, wherein the instrument carriage comprises:
• a motor housing;
• multiple drive motors, each of the drive motors having at least three phases, and each of the drive motors coupled to the motor housing;
• multiple output drive couplings, each of the output drive couplings operably coupled with a corresponding one of the drive motors, and each of the output drive couplings configured to drivingly couple with a corresponding one of multiple input drive couplings of the instrument;
• and
• a voltage source inverter circuit comprising multiple inverter legs,
• wherein the voltage source inverter circuit is coupled to the motor housing,
• wherein each respective inverter leg of the multiple inverter legs is coupled to drive at least one phase of at least one of the respective drive motors,
• wherein the multiple inverter legs comprise multiple shared inverter legs,
• wherein a first shared inverted leg of the multiple shared inverter legs is coupled to drive a common one of the three phases of each of two of the drive motors, and
• wherein a second shared inverted leg of the multiple shared inverter legs is coupled to drive another common one of the three phases of each of two of the drive motors.