A robotic surgical system, comprising: a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; a distal link (230, 234 and 238) operably coupled to the proximal link; and a plurality of instrument manipulators rotatably coupled to a distal end of the distal link, each of the plurality of instrument manipulators including a plurality of actuator outputs (442b to 442e) and a frame characterised in that the plurality of actuator outputs (442b to 442e) are distally protruding from a distal end of the frame; and each of the plurality of instrument manipulators includes: an outer shell; a plurality of instrument support features mounted to the outer shell, each of the instrument support features having a distal end and being configured to support a surgical instrument during engagement of the plurality of actuator outputs (442b to 442e) with a corresponding plurality of actuator inputs of the surgical instrument; and a latching mechanism, the latching mechanism being configured to move the distal end of the frame toward the distal end of the instrument support features to operably engage the plurality of actuator outputs (442b to 442e) with the plurality of actuator inputs while the surgical instrument is supported, by the instrument support features, in a stationary position relative to the instrument support features. a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; a distal link (230, 234 and 238) operably coupled to the proximal link; and a plurality of instrument manipulators rotatably coupled to a distal end of the distal link, each of the plurality of instrument manipulators including a plurality of actuator outputs (442b to 442e) and a frame characterised in that the plurality of actuator outputs (442b to 442e) are distally protruding from a distal end of the frame; and each of the plurality of instrument manipulators includes: an outer shell; a plurality of instrument support features mounted to the outer shell, each of the instrument support features having a distal end and being configured to support a surgical instrument during engagement of the plurality of actuator outputs (442b to 442e) with a corresponding plurality of actuator inputs of the surgical instrument; and a latching mechanism, the latching mechanism being configured to move the distal end of the frame toward the distal end of the instrument support features to operably engage the plurality of actuator outputs (442b to 442e) with the plurality of actuator inputs while the surgical instrument is supported, by the instrument support features, in a stationary position relative to the instrument support features. an outer shell; a plurality of instrument support features mounted to the outer shell, each of the instrument support features having a distal end and being configured to support a surgical instrument during engagement of the plurality of actuator outputs (442b to 442e) with a corresponding plurality of actuator inputs of the surgical instrument; and a latching mechanism, the latching mechanism being configured to move the distal end of the frame toward the distal end of the instrument support features to operably engage the plurality of actuator outputs (442b to 442e) with the plurality of actuator inputs while the surgical instrument is supported, by the instrument support features, in a stationary position relative to the instrument support features.