Latch release for surgical instrument

A medical instrument comprising:

• an instrument control surface configured to mate with an instrument sterile adapter to receive input drive forces through the instrument sterile adapter to control actuation of the medical instrument, the instrument control surface comprising a first opening and a second opening defined in the instrument control surface;
• a first locking structure;
• and
• a second locking structure,
• wherein in an attached state of the medical instrument to the instrument sterile adapter, a first arm of the instrument sterile adapter is received through the first opening, a second arm of the instrument sterile adapter is received through the second opening, the first locking structure blocks motion of the first arm in a first direction, and the second locking structure blocks motion of the second arm in a second direction opposite the first direction.

An instrument sterile adapter for interfacing between an instrument carriage and a medical instrument, the instrument sterile adapter comprising:

• a base comprising a first surface configured to engage with a carriage control surface of the instrument carriage and a second surface configured to engage with an instrument control surface of the medical instrument;
• and
• a first latch and a second latch coupled to the base, the first latch comprising a first latching portion and a first arm coupled to the first latch portion, and the second latch comprising a second latching portion and a second arm coupled to the second latch portion,
• wherein the first and second latching portions protrude below the first surface and are configured to engage with carriage locking surfaces of the instrument carriage to attach the instrument sterile adapter to the instrument carriage,
• wherein the first and second arms protrude above the second surface and are configured to be received in first and second openings in the instrument control surface of the medical instrument, and
• wherein the first and second arms are movable towards and away from one another to cause movement of the first and second latching portions.