A surgical system (800, 802, 804), comprising: a master grip input mechanism (806, 808); a surgical instrument comprising an end effector (606, 700, 701a, 701b), wherein the end effector (606, 700, 701a, 701b) is configured to apply slave gripping force in response to grip input at the master grip input mechanism (806, 808); and one or more controllers configured to: receive a first input signal in response to grip input at the master grip input mechanism (806, 808) exceeding a threshold actuation of the master grip input mechanism; in response to receiving the first input signal, output a first actuation signal to control the end effector (606, 700, 701a, 701b) to apply a gripping force up to a first threshold level in accordance with the first input signal; receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input (104, 200) at a master input device, the procedure input (104, 200) being other than grip input at the master grip input mechanism (806, 808) and causing actuation of the surgical instrument to perform a first surgical procedure using a gripping force of the end effector at a level higher than the first threshold level; and output a second actuation signal in response to receiving the second input signal while continuing to receive the first input signal, the second actuation signal causing the slave gripping force of the end effector (606, 700, 701a, 701b) to increase from the first threshold level to a second level higher than the first threshold level during the first surgical procedure. a master grip input mechanism (806, 808); a surgical instrument comprising an end effector (606, 700, 701a, 701b), wherein the end effector (606, 700, 701a, 701b) is configured to apply slave gripping force in response to grip input at the master grip input mechanism (806, 808); and one or more controllers configured to: receive a first input signal in response to grip input at the master grip input mechanism (806, 808) exceeding a threshold actuation of the master grip input mechanism; in response to receiving the first input signal, output a first actuation signal to control the end effector (606, 700, 701a, 701b) to apply a gripping force up to a first threshold level in accordance with the first input signal; receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input (104, 200) at a master input device, the procedure input (104, 200) being other than grip input at the master grip input mechanism (806, 808) and causing actuation of the surgical instrument to perform a first surgical procedure using a gripping force of the end effector at a level higher than the first threshold level; and output a second actuation signal in response to receiving the second input signal while continuing to receive the first input signal, the second actuation signal causing the slave gripping force of the end effector (606, 700, 701a, 701b) to increase from the first threshold level to a second level higher than the first threshold level during the first surgical procedure. receive a first input signal in response to grip input at the master grip input mechanism (806, 808) exceeding a threshold actuation of the master grip input mechanism; in response to receiving the first input signal, output a first actuation signal to control the end effector (606, 700, 701a, 701b) to apply a gripping force up to a first threshold level in accordance with the first input signal; receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input (104, 200) at a master input device, the procedure input (104, 200) being other than grip input at the master grip input mechanism (806, 808) and causing actuation of the surgical instrument to perform a first surgical procedure using a gripping force of the end effector at a level higher than the first threshold level; and output a second actuation signal in response to receiving the second input signal while continuing to receive the first input signal, the second actuation signal causing the slave gripping force of the end effector (606, 700, 701a, 701b) to increase from the first threshold level to a second level higher than the first threshold level during the first surgical procedure.