Systems and methods for proximal control of a surgical instrument

A robotic surgical system comprising:

• an instrument chassis assembly including an elongated member extending along a chassis axis, a proximal mounting section, a distal mounting section, and an instrument interface coupled to the proximal mounting section;
• an actuation system coupled to the proximal mounting section;
• a linkage system operably coupled between the actuation system and the distal mounting section and including an instrument guide;
• and
• a surgical instrument including a proximal portion coupled with the instrument interface and a distal portion coupled with the instrument guide, the surgical instrument pivotable via the instrument guide relative to the chassis axis.

A teleoperational surgical system comprising:

• an instrument chassis;
• a first instrument interface adapted to receive a proximal portion of a first surgical instrument;
• a second instrument interface adapted to receive a proximal portion of a second surgical instrument;
• a tether system tethering a distal portion of the first surgical instrument to the instrument chassis and tethering a distal portion of the second surgical instrument to the instrument chassis;
• a first interface actuation system coupled between the instrument chassis and the first instrument interface, the first interface actuation system configured to move the first instrument interface in at least two degrees of freedom;
• and
• a second interface actuation system coupled between the instrument chassis and the second instrument interface, the second interface actuation system configured to move the second instrument interface in at least two degrees of freedom.