A computer-assisted system includes a manipulator arm configured to support an instrument, an input device configured to accept user commands to move the instrument, and an actuator system coupled to the input device. A controller of the computer-assisted system is configured to determine a component of a change in force at the instrument, the component correlating with a direction of motion of the input device. The controller also determines a feedback force based at least in part on the environmental stiffness and the component of the change in force if the environmental stiffness experienced by the instrument exceeds a threshold stiffness. The controller causes the actuator system to drive the input device to apply the feedback force.

A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

A master-slave system includes: a master unit including an operation end, an operation detector that detects operational information inputted by a force being applied to the operation end, and a force applier that gives a force to the operation end; a slave unit including an action part, and an operation part that moves the action part; and a control device. The control device outputs, according to a regulating condition and the operational information, a command for causing the operation part to operate the action part to carry out operation reflecting the regulating condition. The control device outputs, according to the regulating condition, a command for causing the force applier to give a force to the operation end against the input to the operation end that commands the given movement of the action part.