Positive control of robotic surgical instrument end effector

A method of controlling an operation of a robotically-controlled surgical instrument, the method comprising:

• receiving a first input at an input device, the first input indicating a user's readiness to actuate the surgical instrument to perform a surgical procedure;
• transmitting a first input signal in response to the receiving of the first input;
• receiving feedback at an output device, the feedback being generated in response to the receiving of the first input signal, the feedback indicating the surgical instrument is in an armed state;
• after the receiving of the feedback, receiving a second input at the input device, the second input confirming the user's readiness to actuate the surgical instrument to perform the surgical procedure;
• and
• transmitting a second input signal in response to the receiving of the second input to transition the surgical instrument from the armed state to an operational state corresponding to actuation of the surgical instrument for performance of the surgical procedure.

A system for controlling a robotically-controlled surgical instrument, the system comprising:

• at least one input device for receiving input from a user;
• at least one output device for providing feedback to the user;
• and
• a controller in signal communication with the at least one input device and the at least one output device, wherein the controller is configured to transmit an actuation signal to actuate at least a portion of the surgical instrument to perform a surgical procedure,
• wherein the controller is further configured to:
• receive a first signal indicating that the surgical instrument is in a ready state to enter an armed state, the armed state being a state in which the surgical instrument is ready for subsequent actuation,
• receive a second signal generated in response to input at the at least one input device, the second signal indicating a user's readiness for a surgical instrument to enter the armed state, and
• receive a third signal, subsequent to the second signal and generated in response to input at the at least one input device, the third signal indicating the user's confirmed readiness to actuate the surgical instrument, and
• wherein the controller is configured to transmit the actuation signal after receiving the third signal.

A method of controlling an operation of a robotically-controlled surgical instrument, the method comprising:

• receiving a first signal at a controller, the first signal indicating that the surgical instrument is in a state ready to enter an armed state, the armed state being a state in which the surgical instrument is ready to enter a subsequent operational state corresponding to actuation of the surgical instrument for performance of a surgical procedure;
• receiving a second signal at the controller, the second signal indicating a user's readiness for the surgical instrument to enter the armed state, the second signal being generated in response to input at one or more input devices;
• outputting an arm signal from the controller in response to the receiving of the second signal at the controller, the arm signal placing the surgical instrument in the armed state;
• receiving a third signal at the controller subsequent to the receiving of the second signal, the third signal being generated in response to input at the one or more input devices, the third signal indicating the user's confirmed readiness for the surgical instrument to enter the operational state;
• and
• outputting an actuation signal from the controller in response to the receiving of the third signal, the actuation signal transitioning the surgical instrument to the operational state.