Methods and devices are provided for attaching a trocar to a surgical arm. For example, a surgical system is provided that has a trocar with a housing and a cannula extending distally from the housing. The housing and the cannula have a tool pathway extending therethrough for receiving a tool. The system also has a trocar support that is configured to be mounted on a distal end of a surgical robotic arm. The trocar is configured to couple to the trocar support through a variety of engagements, such as engaging the trocar in a first configuration that allows free movement of the trocar relative to the trocar support and in a second configuration in which the trocar is locked in a fixed position relative to the trocar support.
