The remote operated surgical system comprises an instrument manipulator including a first carriage driver and a second carriage driver, each of which provides independent rotational movement. Each carriage driver includes a first engagement configuration. The surgical instrument includes two instrument drivers, each of which receives rotational movement from one of the two carriage drivers. Each instrument driver includes a second engagement configuration that engages the first engagement configuration to actively couple the carriage driver to the instrument driver. The instrument drivers are rotationally connected to each other. The manipulator controller controls the rotation of the two carriage drives and moves in a direction opposite to that of the rotation of the first carriage drive until the first engagement configuration is actively engaged with the second engagement configuration To the second carriage driver. The surgical instrument may include an instrument shaft that may rotate indefinitely. The instrument driver may be rotatably coupled to the instrument shaft.遠隔操作手術システムが、各々が独立した回転的な動きをもたらす、第１のキャリッジ駆動体と第２のキャリッジ駆動体とを含む、器具マニピュレータを有する。各キャリッジ駆動体は、第１の係合構成を含む。手術器具が、各々が２つのキャリッジ駆動体の一方から回転的な動きを受ける２つの器具駆動体を含む。各器具駆動体は、第１の係合構成と係合してキャリッジ駆動体を器具駆動体に能動的に連結する、第２の係合構成を含む。器具駆動体は、互いに回転的に連結される。マニピュレータコントローラが、２つのキャリッジ駆動体の回転を制御し、第１の係合構成が第２の係合構成と能動的に係合するまで、第１のキャリッジ駆動体の回転と逆の動きを第２のキャリッジ駆動体に付与する。手術器具は、無限に回転し得る器具シャフトを含んでよい。器具駆動体は、器具シャフトに回転的に連結されてよい。
