Autonomous surgical systems aim to improve surgical treatments in all stages of the clinical workflow. A surgical interface should be safe, robust, and user-friendly. In this article, the functionality and usability of a surgical interface as critical factors for acceptability are investigated. Then, the surgical interface for the cryoablation of kidney tumors is designed, with consideration of the functionality and usability factors. The surgical interface includes a preoperative surgical simulator that allows the surgeon to plan the surgical interventions. The surgical interface with one surgeon is evaluated.