An apparatus comprising: a drive output disk of an instrument manipulator assembly, and an intermediate disk of a surgical device interface element; the drive output disk comprising: a distal end surface; and a plurality of drive dogs (1652A, 1652B) extending from the distal end surface, each drive dog of the plurality of drive dogs (1652A, 1652B) comprising a first portion (1652A1) and a second portion (1652A2), the first portion comprising a three-dimensional structure, the second portion (1652A2) extending from the first portion, the second portion (1652A2) comprising two opposing second portion side surfaces (1652cyl2, 1652cyl4), each second portion side surface comprising a curved surface; the intermediate disk being configured to interface with the drive output disk and a driven disk of an instrument, the intermediate disk comprising: a proximal end surface; and a plurality of drive dog receptacles (1852A, 1852B) extending from the proximal end surface into the intermediate disk, each drive dog receptacle of the plurality of drive dog receptacles (1852A, 1852B) being configured to receive one of the plurality of drive dogs (1652A, 1652B), and each drive dog receptacle of the plurality of drive dog receptacles (1852A, 1852B) comprising: a first portion (1852A1) comprising opposed sidewalls (1852s2, 1852s4) extending from the proximal end surface into the intermediate disk, a bottom surface of the drive dog receptacle, and a second portion (1852A2) extending from the first portion (1852A1) to the bottom surface, the second portion (1852A2) comprising two opposing second portion sloped side surfaces (1852w2, 1852w4). a drive output disk of an instrument manipulator assembly, and an intermediate disk of a surgical device interface element; the drive output disk comprising: a distal end surface; and a plurality of drive dogs (1652A, 1652B) extending from the distal end surface, each drive dog of the plurality of drive dogs (1652A, 1652B) comprising a first portion (1652A1) and a second portion (1652A2), the first portion comprising a three-dimensional structure, the second portion (1652A2) extending from the first portion, the second portion (1652A2) comprising two opposing second portion side surfaces (1652cyl2, 1652cyl4), each second portion side surface comprising a curved surface; a distal end surface; and a plurality of drive dogs (1652A, 1652B) extending from the distal end surface, each drive dog of the plurality of drive dogs (1652A, 1652B) comprising a first portion (1652A1) and a second portion (1652A2), the first portion comprising a three-dimensional structure, the second portion (1652A2) extending from the first portion, the second portion (1652A2) comprising two opposing second portion side surfaces (1652cyl2, 1652cyl4), each second portion side surface comprising a curved surface; the intermediate disk being configured to interface with the drive output disk and a driven disk of an instrument, the intermediate disk comprising: a proximal end surface; and a plurality of drive dog receptacles (1852A, 1852B) extending from the proximal end surface into the intermediate disk, each drive dog receptacle of the plurality of drive dog receptacles (1852A, 1852B) being configured to receive one of the plurality of drive dogs (1652A, 1652B), and each drive dog receptacle of the plurality of drive dog receptacles (1852A, 1852B) comprising: a first portion (1852A1) comprising opposed sidewalls (1852s2, 1852s4) extending from the proximal end surface into the intermediate disk, a bottom surface of the drive dog receptacle, and a second portion (1852A2) extending from the first portion (1852A1) to the bottom surface, the second portion (1852A2) comprising two opposing second portion sloped side surfaces (1852w2, 1852w4). a proximal end surface; and a plurality of drive dog receptacles (1852A, 1852B) extending from the proximal end surface into the intermediate disk, each drive dog receptacle of the plurality of drive dog receptacles (1852A, 1852B) being configured to receive one of the plurality of drive dogs (1652A, 1652B), and each drive dog receptacle of the plurality of drive dog receptacles (1852A, 1852B) comprising: a first portion (1852A1) comprising opposed sidewalls (1852s2, 1852s4) extending from the proximal end surface into the intermediate disk, a bottom surface of the drive dog receptacle, and a second portion (1852A2) extending from the first portion (1852A1) to the bottom surface, the second portion (1852A2) comprising two opposing second portion sloped side surfaces (1852w2, 1852w4).