Assembly process for tensioning elements and related systems

A method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument, the method comprising:

• applying a first tension to a first tensioning element coupled to a first rotatable cylinder of the surgical instrument by using a first motor to apply a first torque to the first rotatable cylinder;
• applying a second tension to a second tensioning element coupled to a second rotatable cylinder of the surgical instrument by using a second motor to apply a second torque to the second rotatable cylinder;
• and
• maintaining the first and second tensions in the first and second tensioning elements while the first rotatable cylinder is being locked to the second rotatable cylinder;
• wherein the first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.