Abstract: A surgical robotic system includes a robotic arm having an instrument drive unit and an access port configured to be secured to the robotic arm. The system also includes an instrument configured to couple to the instrument drive unit, where the instrument drive unit is configured to actuate the instrument. The system also includes a controller configured to: instruct the robotic arm to advance the instrument into the access port; instruct the instrument drive unit to calibrate the instrument inside the access port; determine a type of the access port during calibration of the instrument; and store the type of the access port in a memory.

Abstract: An end effector assembly of a surgical instrument includes a clevis defining a longitudinal axis and including first and second arms spaced-apart relative to one another and first and second jaw members supported by the clevis. At least one of the jaw members is movable relative to the other and the clevis between a spaced-apart position and an approximated position for grasping tissue between the jaw members. The clevis includes first and second locating features on outwardly-facings sides of the first and second spaced-apart arms, respectively. The first and second locating features are configured to facilitate engagement and alignment of the end effector assembly within a test fixture.