Abstract: A surgical robotic system includes a robotic arm having an instrument drive unit. The surgical robotic system also includes a surgical instrument that is coupled to the instrument drive unit. The surgical instrument includes a hub assembly with a hub housing and a longitudinal shaft extending from the hub housing. The surgical instrument also includes an end effector that is coupled to a distal end portion of the longitudinal shaft. The end effector includes a container with a composition (e.g., contrast dye or drug). The end effector also includes a needle coupled to the container and a sheath disposed over the needle and longitudinally movable relative to the needle from an extended position in which the needle is enclosed within the sheath to a retracted position in which the needle extends out of the sheath.