Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base (208)； a setup link (222, 218) operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system； a proximal link (226) operably coupled to the setup link； and a distal link (238) operably coupled to the proximal link. A plurality of instrument manipulators (242a) are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs (442b,c,d,e) distally protruding from a distal end of a frame.
