Cannula attachment devices and methods for a surgical robotic system

An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising:

• a support;
• a first clamp component configured to pivot between an open position and a closed position;
• a second clamp component spaced from the first clamp component, the first and second clamp components defining a region configured to receive a portion of the cannula, the first and second clamp components configured to retain the portion of the cannula in the region when the first clamp component is in the closed position;
• a locking component pivotably coupled to the support and slidably coupled to the first clamp component, wherein the locking component is configured to pivot at the support to slide a portion of the locking component along the first clamp component from an unlocked position to a locked position;
• and
• a locating structure disposed on at least one of the first clamp component and the second clamp component configured to mate with a corresponding structure disposed on the portion of the cannula.