The surgical robotic system has a robotic gripper, a user interface device (UID), and one or more processors communicatively coupled to the UID and the robotic gripper. The system detects an instruction to connect or reconnect to a teleoperational mode, determines that the system is in a non-teleoperational mode, receives a sequence of user actions via a UID, where the UID is the jaw angle of the robot gripper or It decides to match the grip force, and switches to remote operation mode. Other embodiments are also described and claimed.
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