Surgical instrument actuation input mechanisms, and related devices, systems, and methods

A surgical instrument for a teleoperated surgical system, the instrument comprising:

• an instrument shaft;
• an end effector coupled to a first end of the instrument shaft;
• and
• a force transmission mechanism coupled to a second end of the instrument shaft opposite the first end, the force transmission mechanism comprising an actuation input mechanism configured to transmit drive forces to actuate the surgical instrument, wherein the actuation input mechanism comprises:
• an interface structure engageable with a drive structure of an actuation interface assembly of the teleoperated surgical system so as to be driven by the drive structure;
• and
• an actuation shaft connected to the interface structure, the actuation shaft being rotatably driven by the interface structure;
• wherein the interface structure comprises a depression shaped and sized to receive a fingertip, and wherein the interface structure comprises one or more gripping features disposed in the depression.

A method of cleaning a surgical instrument of a teleoperated surgical system, the method comprising:

• positioning a finger-shaped object into a depression of an interface structure of an actuation input mechanism, wherein the depression is sized and shaped to receive the finger-shaped object, and wherein the interface structure is engageable to be driven by a drive structure of an actuation interface assembly of the teleoperated surgical system to actuate one or more components of the surgical instrument;
• driving the actuation input mechanism by manipulating the interface structure using the finger-shaped object received in the depression;
• and
• actuating one or more components of the surgical instrument in response to the driving for a cleaning procedure.