A method of controlling an end effector of a robotically-controlled surgical instrument may include receiving a first input signal indicative of a high grip level input at a master grip input mechanism that controls a slave gripping force of the end effector； receiving a second input signal indicative of a user's readiness to operate the surgical instrument to perform a first surgical procedure； and outputting a locking signal in response to receiving the first input signal and the second input signal together to lock one or more degrees of freedom of the surgical instrument during the first surgical procedure.
