A teleoperated surgical system, comprising: a master grip input mechanism ; a surgical instrument comprising: a shaft ; an end effector configured to apply a slave gripping force in response to grip input at the master grip input mechanism; and a wrist coupling the end effector to the shaft; and a controller configured to: receive a first input signal in response to grip input over a predetermined threshold at the master grip input mechanism, the master grip input mechanism being operably coupled to control a slave gripping force of the end effector; receive a second input signal, wherein the second input signal is received in response to a procedure input at a master input device, the procedure input being different from the grip input at the master grip input mechanism, wherein the procedure input is indicative of a user's readiness to operate the surgical instrument to perform a surgical procedure; and in response to receiving the second input signal while the first input signal is received, cause one or more degrees of freedom of movement of at least one of the shaft and the wrist to be placed in a locked state. a master grip input mechanism ; a surgical instrument comprising: a shaft ; an end effector configured to apply a slave gripping force in response to grip input at the master grip input mechanism; and a wrist coupling the end effector to the shaft; and a shaft ; an end effector configured to apply a slave gripping force in response to grip input at the master grip input mechanism; and a wrist coupling the end effector to the shaft; and a controller configured to: receive a first input signal in response to grip input over a predetermined threshold at the master grip input mechanism, the master grip input mechanism being operably coupled to control a slave gripping force of the end effector; receive a second input signal, wherein the second input signal is received in response to a procedure input at a master input device, the procedure input being different from the grip input at the master grip input mechanism, wherein the procedure input is indicative of a user's readiness to operate the surgical instrument to perform a surgical procedure; and in response to receiving the second input signal while the first input signal is received, cause one or more degrees of freedom of movement of at least one of the shaft and the wrist to be placed in a locked state. receive a first input signal in response to grip input over a predetermined threshold at the master grip input mechanism, the master grip input mechanism being operably coupled to control a slave gripping force of the end effector; receive a second input signal, wherein the second input signal is received in response to a procedure input at a master input device, the procedure input being different from the grip input at the master grip input mechanism, wherein the procedure input is indicative of a user's readiness to operate the surgical instrument to perform a surgical procedure; and in response to receiving the second input signal while the first input signal is received, cause one or more degrees of freedom of movement of at least one of the shaft and the wrist to be placed in a locked state. <EOS>