Preloaded surgical instrument interface

An apparatus comprising:

• a frame having a first end portion and a second end portion, the frame comprising a first skid plate and a second skid plate, the first skid plate and the second skid plate each extending from the first end portion of the frame to the second end portion of the frame, the first skid plate and the second skid plate defining an opening at the first end portion of the frame and a parking slot at the second end portion of the frame;
• a movable body configured to move within the frame along an axis, a proximal surface of the movable body including a hard stop receptacle;
• and
• an intermediate disk rotatably mounted within the movable body, a first side of the intermediate disk is configured to engage a drive output disk of a drive output unit of an instrument manipulator assembly and a second side of the intermediate disk is configured to engage a driven disk of an instrument;
• wherein:
• the movable body is configured to move along the axis from a proximal position to a distal position to retain a first mounting protrusion of the instrument and a second mounting protrusion of the instrument within the parking slot;
• and
• the hard stop receptacle is configured to engage with a corresponding hard stop of the drive output unit to prevent removal of the instrument from the frame.

An apparatus comprising:

• a frame having a first end portion and a second end portion, the frame comprising a first skid plate and a second skid plate, the first skid plate and the second skid plate each extending from the first end portion of the frame to the second end portion of the frame, the first skid plate and the second skid plate defining an opening at the first end portion of the frame and a parking slot at the second end portion of the frame, the frame including a lip configured to engage with a release latch of a drive output unit on a condition that the frame is coupled to the drive output unit;
• a movable body configured to move within the frame along an axis;
• and
• an intermediate disk rotatably mounted within the movable body, the intermediate disk configured to engage a driven disk of an instrument, the intermediate disk is configured to engage a drive output disk of the drive output unit of an instrument manipulator assembly on the condition that the frame is coupled to the drive output unit;
• wherein:
• the movable body is configured to move proximally along the axis on a condition that a first mounting protrusion of the instrument is moved along the first skid plate from the opening towards the parking slot and a second mounting protrusion of the instrument is moved along the second skid plate from the opening towards the parking slot;
• and
• the movable body is configured to move distally along the axis on a condition that the first mounting protrusion and the second mounting protrusion are within the parking slot to retain the first mounting protrusion and the second mounting protrusion within the parking slot.