User initiated break-away clutching of a surgical mounting platform

A surgical system comprising:

• a linkage comprising a joint between a proximal base and an instrument holder configured for releasably supporting a surgical instrument;
• a drive system coupled to the linkage;
• a torque sensor system coupled to the joint;
• and
• a processor coupling the torque sensor system with the drive system, the processor configured to:
• operate the surgical system in a first state in which, in response to a first torque sensed by the torque sensor system being below an articulation torque threshold, the processor transmits a first drive signal to the drive system, the first drive signal causing the drive system to inhibit manual articulation from a first joint configuration;
• operate the surgical system in a second state in which, in response to a second torque sensed by the torque sensor system exceeding the articulation torque threshold, the processor transmits a second drive signal to the drive system, the second drive signal causing the drive system to facilitate a manual articulation from the first joint configuration toward a second joint configuration using a movement torque lower than the articulation torque threshold;
• and
• operate the surgical system in a third state where, in response to a determination that the linkage is at the second joint configuration on condition that a velocity of the manual articulation being below a threshold velocity, the processor transmits a third drive signal to the drive system, the third drive signal causing the drive system to inhibit manual articulation from the second joint configuration on condition that a third torque sensed by the torque sensor system being below the articulation torque threshold.

A method comprising:

• operating a medical device comprising a linkage having a joint, a drive unit coupled to the linkage, and a processor coupled to the drive unit in a first state in which, in response to a first manual effort against the linkage below an articulation threshold, the processor transmits a first signal to the drive unit, the first signal causing the drive unit to inhibit manual articulation from a first pose of the linkage;
• operating the medical device in a second state in which, in response to a second manual effort against the linkage exceeding the articulation threshold, the processor transmits a second signal to the drive unit, the second signal causing the drive unit to facilitate a manual articulation from the first pose of the linkage toward a second pose of the linkage;
• and
• operating the medical device in a third state in which, in response to a determining that the linkage is at the second pose of the linkage, the processor transmits a third signal to the drive unit, the third signal causing the drive unit to inhibit manual articulation of the second pose of the linkage.