An instrument drive unit , comprising: a motor assembly ; and an integrated circuit board comprising: a hub ; a first circuit board and a second circuit board each of which are electrically and mechanically coupled to the hub on opposing sides thereof; and a third circuit board and a fourth circuit board each of which are electrically and mechanically coupled to the second circuit board on opposing sides thereof, wherein the integrated circuit board is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the hub are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the hub are coupled to one another to define a cavity therein configured for receipt of the motor assembly; at least one of the hub, the first circuit board, the second circuit board, the third circuit board, or the fourth circuit board includes at least one electrical connector ("C") configured to electrically interconnect the hub, the first circuit board, the second circuit board, the third circuit board, or the fourth circuit board with at least one electrical component of the instrument drive unit of a robotic arm . a motor assembly ; and an integrated circuit board comprising: a hub ; a first circuit board and a second circuit board each of which are electrically and mechanically coupled to the hub on opposing sides thereof; and a third circuit board and a fourth circuit board each of which are electrically and mechanically coupled to the second circuit board on opposing sides thereof, wherein the integrated circuit board is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the hub are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the hub are coupled to one another to define a cavity therein configured for receipt of the motor assembly; at least one of the hub, the first circuit board, the second circuit board, the third circuit board, or the fourth circuit board includes at least one electrical connector ("C") configured to electrically interconnect the hub, the first circuit board, the second circuit board, the third circuit board, or the fourth circuit board with at least one electrical component of the instrument drive unit of a robotic arm . a hub ; a first circuit board and a second circuit board each of which are electrically and mechanically coupled to the hub on opposing sides thereof; and a third circuit board and a fourth circuit board each of which are electrically and mechanically coupled to the second circuit board on opposing sides thereof, wherein the integrated circuit board is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the hub are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the hub are coupled to one another to define a cavity therein configured for receipt of the motor assembly; at least one of the hub, the first circuit board, the second circuit board, the third circuit board, or the fourth circuit board includes at least one electrical connector ("C") configured to electrically interconnect the hub, the first circuit board, the second circuit board, the third circuit board, or the fourth circuit board with at least one electrical component of the instrument drive unit of a robotic arm . <EOS>