Coupling devices and related systems

A coupling device for a robotic system, the coupling device comprising:

• a handle with a proximal end, a distal end, a first surface, and second surface, wherein the first surface is opposed the second surface;
• the distal end defining a first radius with a first axis;
• an aperture through the handle, the aperture defining a second radius about the first axis, the second radius being smaller than the first radius;
• and
• an attachment portion on the proximal end, the attachment portion further comprising a recess in the handle extending from the first surface and terminating before the second surface.

A robotic surgical system, comprising:

• at least one surgical arm with a first end and second end;
• an instrument interface at the first end of the surgical arm;
• a first instrument mounted to the first instrument interface;
• and
• a coupling device positioned between the first end and the second end of the at least one surgical arm, wherein the coupling device further comprises:
• a handle with a proximal end, a distal end, a first surface, and second surface, where in the first surface is opposed the second surface;
• the distal end defining a first radius with a first axis;
• an aperture through the handle, the aperture defining a second radius about the first axis, the second radius being smaller than the first radius;
• and
• an attachment portion on the proximal end, the attachment portion further comprising a recess into the handle extending from the first surface and terminating before the second surface.

A method of coupling a surgical instrument to a robotic surgical system comprising:

• sliding a coupling device over a first instrument interface located at a first end of at least one surgical arm to a position between the first end and a second end of the at least one surgical arm;
• mounting a first instrument to the first instrument interface;
• and
• mounting a second instrument to the coupling device;