Surgical system instrument mounting

A robotic surgical system, comprising:

• a base;
• an arm assembly coupled to the base;
• and
• a manipulator assembly platform rotatably coupled to a distal portion of the arm assembly;
• and
• one or more instrument manipulators coupled to the manipulator assembly platform, each of the one or more instrument manipulators including:
• a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell;
• a plurality of actuator outputs protruding in a distal direction from the frame;
• an instrument support feature coupled to the outer shell;
• and
• a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.