A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and a plurality of drive cables extending within the elongate shaft between the drive housing and an end effector coupled to a distal end of the elongate shaft. A cable brake assembly is at least partially arranged within a cavity defined in the drive housing or the elongate shaft, the cable brake assembly having one or more brakes and a brake pad engageable with one or more of the plurality of drive cables. The cable brake assembly is actuatable between a first position, where the plurality of drive cables are free to move longitudinally within the elongate shaft, and a second position, where the one or more brakes and the brake pad engage and prevent the one or more of the plurality of drive cables from moving.