Surgical system instrument mounting

An apparatus comprising a rotatable base, a surgical instrument manipulator, and an insertion mechanism,

• the surgical instrument manipulator comprising:
• a frame having a distal end;
• a plurality of actuator outputs protruding distally from the distal end of the frame;
• an instrument support feature coupled to the frame, the instrument support feature having a distal end and being configured to support a surgical instrument during engagement of the plurality of actuator outputs with a corresponding plurality of actuator inputs of the surgical instrument;
• a latching mechanism, the latching mechanism being configured to move the distal end of the frame toward the distal end of the instrument support feature to operably engage the plurality of actuator outputs with the plurality of actuator inputs while the surgical instrument is supported by the instrument support feature;
• and
• the insertion mechanism having a base link and a carriage link, the base link being operably coupled to the rotatable base, and the carriage link being operably coupled to the frame of the surgical instrument manipulator.