Surgical tool and robotic surgical system interfaces

A surgical device, comprising:

• an elongate shaft having an end effector at a distal end thereof that is configured to engage tissue;
• a proximal handle configured to be handheld and to removably and replaceably couple to the elongate shaft such that the elongate shaft extends distally from the proximal handle;
• a sterile barrier coupled to the proximal handle and configured to provide a sterile environment distal thereof with a non-sterile environment being proximal thereto, the elongate shaft and the end effector being in the sterile environment when the proximal handle is removably and replaceably coupled to the elongate shaft;
• and
• magnetic members configured to generate a magnetic field across the sterile barrier when the proximal handle is removably and replaceably coupled to the elongate shaft and thereby cause movement of the end effector.