Mechanical teleoperated device comprising an interchangeable distal instrument

A surgical teleoperated device for performing a surgery on a patient, the surgical teleoperated device comprising:

• an instrument including a shaft and an end effector, the instrument being spaced apart from a handle configured to be operated by a user, the end effector configured to contact tissue of the patient during the surgery;
• one or more driving elements;
• a plurality of independently rotatable elements configured to be rotated via the one or more driving elements based on movements of the handle;
• and
• a plurality of driven elements each being removably couplable to one of the plurality of independently rotatable elements via mating parts configured to be removably mounted inside of corresponding mating receptacles, the plurality of driven elements, when coupled to the plurality of independently rotatable elements, being configured to be driven by the plurality of driving elements to cause movement of the end effector corresponding to the movements of the handle.