Abstract: Devices, systems, and methods herein relate to surgical robotic systems, for example, a surgical instrument removably coupled to a robotic arm. Devices may include a shaft including a proximal end and a distal end. The shaft may define a lumen extending between the proximal end and the distal end. An end effector may be disposed at the distal end of the shaft. A proximal head may be disposed at the proximal end of the shaft. The proximal head may include at least one housing defining a plurality of slots and a plurality of engagement elements. Each engagement element may be disposed in a separate slot of the plurality of slots. Each engagement element of the plurality of engagement elements may have a first end that is coupled to the end effector via a transmission member and a second end that is configured to be coupled to a drive unit.

Abstract: Devices, systems, and methods herein relate to surgical robotic systems, for example, a surgical instrument removably coupled to a robotic arm. Devices may include a shaft including a proximal end and a distal end. The shaft may define a lumen extending between the proximal end and the distal end. An end effector may be disposed at the distal end of the shaft. A proximal head may be disposed at the proximal end of the shaft. The proximal head may include a housing defining an internal space configured to house a plurality of engagement elements and a knob body disposed proximal of the housing. Each engagement element may be coupled to the end effector via a force transmitting element disposed within the lumen. The knob body may be configured to be distally translated and subsequently rotated relative to the housing to lock the proximal head to an instrument interface.