Nathan Fillion Captain Malcolm "Mal" Reynolds Actor Gina Torres Zoe Actor Alan Tudyk Wash Actor Sean Maher Simon Tam Actor Adam Baldwin Jayne Cobb Actor Jewel Staite Kaylee Frye Actor Summer Glau River Tam Actor Ron Glass Book Actor Morena Baccarin Inara Serra Actor Blake Robbins Agent McGuinness Guest Star Jeff Ricketts Blue Glove Man 1 Guest Star Dennis Cockrum Blue Glove Man 2 Guest Star Tom Virtue Pompous Doctor Guest Star Roma Chugani Receiving Doctor Guest Star Ira Steck Young Intern Guest Star Michael Nagy Particularly Dressed Man Guest Star Alex Connie Patient Guest Star Cate Cohen Crash Team Nurse Guest Star Joss Whedon Executive Producer