An interchangeable shaft assembly for use with a surgical instrument, the surgical instrument including a frame that operably supports a plurality of drive systems and defines an actuation axis, the shaft assembly comprising: a first shaft configured to apply first actuation motions to a surgical end effector operably coupled thereto; and a shaft attachment module on the proximal end of the first shaft; the shaft assembly characterized by: an attachment yoke slidably received within the shaft attachment module such that the first shaft is axially movable in proximal and distal directions relative to the attachment module, wherein a proximal end of the first shaft is rotatably coupled to the attachment yoke, and the attachment yoke is configured to be operably releasably coupled to a first one of the drive systems supported by the frame in a direction that is substantially transverse to the actuation axis, and wherein the shaft attachment module is configured to releasably engage a portion of the frame when the proximal end of the first shaft is in operable engagement with the first one of the drive systems; and a shaft frame configured to rotate about the actuation axis with respect to the shaft attachment module, wherein a proximal end of the shaft frame is coupled to the shaft attachment module. a first shaft configured to apply first actuation motions to a surgical end effector operably coupled thereto; and a shaft attachment module on the proximal end of the first shaft; the shaft assembly characterized by: an attachment yoke slidably received within the shaft attachment module such that the first shaft is axially movable in proximal and distal directions relative to the attachment module, wherein a proximal end of the first shaft is rotatably coupled to the attachment yoke, and the attachment yoke is configured to be operably releasably coupled to a first one of the drive systems supported by the frame in a direction that is substantially transverse to the actuation axis, and wherein the shaft attachment module is configured to releasably engage a portion of the frame when the proximal end of the first shaft is in operable engagement with the first one of the drive systems; and a shaft frame configured to rotate about the actuation axis with respect to the shaft attachment module, wherein a proximal end of the shaft frame is coupled to the shaft attachment module. an attachment yoke slidably received within the shaft attachment module such that the first shaft is axially movable in proximal and distal directions relative to the attachment module, wherein a proximal end of the first shaft is rotatably coupled to the attachment yoke, and the attachment yoke is configured to be operably releasably coupled to a first one of the drive systems supported by the frame in a direction that is substantially transverse to the actuation axis, and wherein the shaft attachment module is configured to releasably engage a portion of the frame when the proximal end of the first shaft is in operable engagement with the first one of the drive systems; and a shaft frame configured to rotate about the actuation axis with respect to the shaft attachment module, wherein a proximal end of the shaft frame is coupled to the shaft attachment module.