A telesurgical system may comprise a teleoperated manipulator and a control system to execute instructions to perform operations. The operations may comprise determining a remaining usable life value of a surgical instrument. The surgical instrument may comprise a distal end component and an actuation component coupled to move the distal end component when driven by the teleoperated manipulator. The operations may also comprise monitoring an amount of use of the actuation component during a use of the surgical instrument. Monitoring the amount of use of the actuation component comprises determining the amount of use of the actuation component based on a force or torque on the actuation component. The operations may also comprise updating the remaining usable life value to an updated usable life value of the surgical instrument based at least on the amount of use of the actuation component during the use of the surgical instrument.