Abstract: Systems and methods are provided for coupling a robotic surgical tool with a tool driver of a robotic surgical system via a sterile barrier disposed between the tool and the driver. The tool has an elongate shaft and an end effector coupled thereto, as well as a mating interface member having a plurality of independently movable portions and a plurality of coupling features disposed about a perimeter of an outer wall of the mating interface member. The coupling features are configured to reversibly engage with a proximal end of a corresponding actuation member from a plurality of actuation members of the tool driver. The coupling features reversibly engage with the proximal ends of the actuation members so as to allow the actuation members to move in proximal and distal directions independently from one another to thereby control operation of the end effector.