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 ; the intermediate drive interface is opposite from the intermediate driven interface , and the intermediate drive interface comprises drive dogs 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 , 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 ; the intermediate drive interface is opposite from the intermediate driven interface , and the intermediate drive interface comprises drive dogs 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 , 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 ; the intermediate drive interface is opposite from the intermediate driven interface , and the intermediate drive interface comprises drive dogs 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 , 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 . <EOS>