Generally, a system for use in a robotic surgical system can be used to determine the attachment between the system's tool driver, sterile adapter, and surgical tool. The system may include sensors used to generate mounting data corresponding to mounting conditions. The attached state may be used to control the operation of the tool driver and surgical tool. In some variations, one or more of the attached states may be visually output to an operator using one or more of a tool driver, a sterile adapter, and a surgical tool. In some variations, the tool driver and surgical tool may include an electronic communication device configured to come into proximity when the surgical tool is attached to the sterile adapter and tool driver. [Selection diagram] Fig. 3C
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