Surgical robotic access system for irregularly shaped robotic actuators and associated robotic surgical instruments

A surgical robotic access system providing instrument access into a patient's body, the surgical robotic access system comprising:

• a surgical robotic access platform having a proximal portion and a distal portion, the proximal portion of the surgical robotic access platform including a flexible seal;
• and
• a robotic sheath having a proximal end and a distal end insertable through the flexible seal of the surgical robotic access platform, the robotic sheath having an expandable cover disposed at the distal end of the robotic sheath and defining a cavity having proximal opening and a distal opening and through which a surgical robotic manipulator is insertable therethrough,
• wherein the expandable cover comprises at least two curved side walls and a center wall removably connected to each other via a plurality of cutouts and a plurality of tabs, wherein the center wall comprises a first set of tabs of the plurality of tabs, wherein the at least two curved side walls comprises a first set of cutouts of the plurality of cutouts, wherein each of the first set of tabs are configured to be insertable into corresponding cutouts of the first set of cutouts to removably connect the center wall with the at least two curved side walls.