Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments

A coupler device for removably coupling a surgical instrument having an elongated shaft to a distal end of a robot arm of a co-manipulation surgical system to assist with surgery performed using the surgical instrument, the distal end of the robot arm comprising a coupler interface having a protrusion, the coupler device comprising:

• a coupler body configured to be removably coupled to the coupler interface and to the elongated shaft of the surgical instrument, the coupler body comprising a groove configured to receive the protrusion of the coupler interface, and a lumen sized and shaped to receive the elongated shaft therein;
• and
• a switch configured to transition between an unlocked state and a locked state, the switch comprising an engagement portion configured to engage with the elongated shaft of the surgical instrument when the elongated shaft is disposed within the lumen and the switch is in the locked state to thereby secure the elongated shaft within the lumen,
• wherein, when the coupler body is coupled to the coupler interface and the elongated shaft is disposed within the lumen, the robot arm is configured to be freely moveable responsive to movement at the handle of the surgical instrument for performing surgery.