A system for providing on-demand functionality during a medical procedure includes an instrument, an accessory, and a mounting device attached to one or more of the instrument and the accessory. The instrument includes an instrument body and an end effector. The end effector providing a first functionality. The accessory providing a second functionality. The mounting device removably couples the accessory to the instrument to augment the first functionality with the second functionality. In one example, the end effector includes jaws to provide a surgical functionality, and the first accessory includes a camera to provide a complementary monitoring functionality. In another example, the mounting device includes a mechanical mechanism and/or a magnetic mechanism for removably coupling the accessory to the instrument.