An apparatus for use during robotic surgery, where the apparatus includes a robotic arm； a tool driver connected to the robotic arm； a cannula including a proximal portion and a distal portion wherein the proximal portion is coupled to the tool driver； and a damping element connected to one of the robotic arm, the tool driver and the cannula. Also, a method including guiding a surgical tool coupled to a robotic arm into a patient, wherein the surgical tool is disposed through a cannula and coupled to a tool driver coupled to a distal portion of the robotic arm； and maneuvering the tool driver by way of the robotic arm, wherein vibrations generated by the maneuvering are inhibited by a damping element coupled to one of the robotic arm, the tool driver and the cannula.
