An apparatus comprising: a surgical device interface element comprising an intermediate disk; and an instrument comprising a driven disk, wherein: the intermediate disk is configured to interface with a drive output disk of an instrument manipulator assembly and the driven disk of the instrument; the intermediate disk comprises an intermediate driven interface and an intermediate drive interface; the intermediate driven interface comprises an alignment receptacle and drive dog receptacles (1852A, 1852B); the intermediate drive interface is opposite from the intermediate driven interface, and the intermediate drive interface comprises drive dogs (1862A, 1862B) and an engagement structure; the driven disk comprises a driven interface and a proximal surface; the driven interface being configured to mate with the intermediate drive interface; the driven interface comprises an engagement receptacle, drive dog receptacles (1952A, 1952B), and a rotation disable element; the engagement receptacle is configured to receive the engagement structure upon the engagement structure being aligned with the engagement receptacle; the engagement receptacle comprises a groove sized to accept the engagement structure of the intermediate drive interface; and engagement of the rotation disable element prevents rotation of the driven disk. a surgical device interface element comprising an intermediate disk; and an instrument comprising a driven disk, wherein: the intermediate disk is configured to interface with a drive output disk of an instrument manipulator assembly and the driven disk of the instrument; the intermediate disk comprises an intermediate driven interface and an intermediate drive interface; the intermediate driven interface comprises an alignment receptacle and drive dog receptacles (1852A, 1852B); the intermediate drive interface is opposite from the intermediate driven interface, and the intermediate drive interface comprises drive dogs (1862A, 1862B) and an engagement structure; the driven disk comprises a driven interface and a proximal surface; the driven interface being configured to mate with the intermediate drive interface; the driven interface comprises an engagement receptacle, drive dog receptacles (1952A, 1952B), and a rotation disable element; the engagement receptacle is configured to receive the engagement structure upon the engagement structure being aligned with the engagement receptacle; the engagement receptacle comprises a groove sized to accept the engagement structure of the intermediate drive interface; and engagement of the rotation disable element prevents rotation of the driven disk. the intermediate driven interface comprises an alignment receptacle and drive dog receptacles (1852A, 1852B); the intermediate drive interface is opposite from the intermediate driven interface, and the intermediate drive interface comprises drive dogs (1862A, 1862B) and an engagement structure; the driven disk comprises a driven interface and a proximal surface; the driven interface being configured to mate with the intermediate drive interface; the driven interface comprises an engagement receptacle, drive dog receptacles (1952A, 1952B), and a rotation disable element; the engagement receptacle is configured to receive the engagement structure upon the engagement structure being aligned with the engagement receptacle; the engagement receptacle comprises a groove sized to accept the engagement structure of the intermediate drive interface; and engagement of the rotation disable element prevents rotation of the driven disk.