Revalidation needed – Simulated use of instrument insertion, insertion after exchanging instruments, and insertion after troubleshooting range of motion limitations.Allow users to override the instrument by single pressing and holding an IDU button.Added blue/white blinking LEDs to indicate to users that they have not changed instrument trajectory.Inadvertent motion when activating mechanical releasesWhen an arm cart had a catastrophic fault and lost power, participants struggled to complete the steps of using the mechanical releases to remove the arm cart from the patient bedside without causing inadvertent motion inside the patient cavity.