Systems, methods, and means for detecting failure mitigation associated with a surgical task are described herein. The device can perform a first autonomous function associated with the surgical task. Performing the first autonomous function can be associated with control feedback. The first autonomous function can be monitored by tracking one or more outputs associated with the control feedback. If one or more outputs exceed a failure threshold, the device may switch from performing the first autonomous function to performing a second autonomous function associated with the surgical task. The second autonomous function can be associated with failure mitigation feedback.