Instrument device manipulator with back-mounted tool attachment mechanism

A surgical tool holder assembly comprising:

• a surgical tool holder having a first side and a second side, the first side forming an attachment interface for attachment to a corresponding attachment interface of a surgical tool;
• a first opening on the first side of the surgical tool holder
• a second opening on the second side of the surgical tool holder;
• a passage extending along a passage axis between the first opening and the second opening such that an elongate body of a surgical tool can be inserted through the first opening, the passage, and the second opening;
• a torque coupler protruding outwards from the attachment interface along an axis substantially parallel to the passage axis and positioned about the first opening, the torque coupler configured to transition between a first state of protruding outwards from the surgical tool holder and a second state of retracting at least partially into the surgical tool holder;
• and
• an actuation mechanism configured to control a transition between the first state and the second state.

A surgical tool holder assembly comprising:

• a housing;
• a stator gear structured as a ring including gear teeth along an inner circumference of the ring, the stator gear configured to remain stationary relative to the housing;
• a surgical tool holder configured to rotate relative to the housing, the surgical tool holder having a first side and a second side, the first side forming an attachment interface for attachment to a corresponding attachment interface of a surgical tool;
• a first opening on the first side of the surgical tool holder;
• a second opening on the second side of the surgical tool holder;
• a passage extending along a passage axis between the first opening and the second opening such that an elongate body of a surgical tool can be inserted through the first opening, the passage, and the second opening;
• and
• a plurality of torque couplers protruding outwards from the attachment interface and positioned about the first opening.