Various exemplary methods, systems, and devices for moving a surgical instrument coupled to a robotic surgical system are provided. In general, a robotic surgical system can include a movement assembly configured to facilitate movement of surgical instrument coupled to the robotic surgical system, e.g., coupled to an electromechanical arm of the robotic surgical system. The movement can include translational movement of the surgical instrument in which the instrument is selectively advanceable and retractable in opposed directions, e.g., proximal direction and distal direction, up vertically and down vertically, etc. The translational movement can be along a shaft of the instrument such that the movement assembly can be configured to selectively translate the instrument along a longitudinal axis of the shaft.
