Drive table

A robotic medical system, comprising:

• a drive table, the drive table comprising:
• a main body;
• a telescoping member extendable from within the main body of the drive table and having a distal end configured to couple to an access sheath;
• and
• one or more hub adapters, each hub adapter configured to translate within the drive table to cause axial movement of an interventional device relative to the main body of the drive table;
• wherein the main body of the drive table is configured to translate axially relative to a patient access point.