Select saute or browning setting on a 6-qt. electric pressure cooker. Adjust for medium heat; brown sausage. Add broth; cook 1 minute, stirring to loosen browned bits. Press cancel. Stir in beans, tomatoes, vegetables, garlic and seasonings., Lock lid; close pressure-release valve. Adjust to pressure-cook on high for 5 minutes. Let pressure release naturally for 10 minutes; quick-release any remaining pressure. Serve with rice.