Surgical Instrument Disengagement

Abstract: A control unit for a surgical robotic system, the surgical robotic system comprising a robotic arm comprising a drive assembly having a first drive assembly interface element configured to provide mechanical drive for actuating a first joint of an instrument when the robotic arm engages with the instrument, the instrument having an end effector comprising a first end effector element and a second end effector element, the first end effector element being moveable with respect to the second end effector element about the first joint, the control unit being configured to control the drive assembly and comprising one or more processors configured to: receive a signal from an input device in response to one of the following: a user request to disengage the instrument from the robotic arm; an activation of an instrument withdrawal mode of the surgical robotic system; and the instrument being moved past a reference point while the surgical robotic system is in an instrument withdrawal mode; and in response to receiving the signal, cause the first drive assembly interface element to move from a first position in which the first end effector element exerts a gripping force on the second end effector element to a second position in which the first end effector element does not exert a gripping force on the second end effector element.

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