Sterile barrier systems for robotic surgery systems

A sterile barrier system for a robotic surgery apparatus, the system comprising:

• a drape coupler comprising:
• an external surface configured to face a first surface of a first portion of the robotic surgery apparatus,
• at least one drape coupler fastener positioned at least partially on the external surface of the drape coupler and configured to removably attach the drape coupler to the first surface of the first portion of the robotic surgery apparatus, the drape coupler configured to at least partially cover the first surface, and
• an opening configured to expose a surgical instrument interface of the first portion of the robotic surgery apparatus, the surgical instrument interface configured to cause actuation of a surgical instrument mounted on the surgical instrument interface;
• a drape made of a flexible material and coupled to the drape coupler, the drape configured to wrap around a second surface of the first portion of the robotic surgery apparatus, the second surface different from the first surface;
• and
• a sterile adapter configured to be received at the opening and to be removably attached to the surgical instrument interface, the sterile adapter configured to receive and support the surgical instrument and provide a sterile barrier between the surgical instrument interface and the surgical instrument, the sterile adapter including a plurality of actuator covers configured to couple with a plurality of instrument actuators positioned on the surgical instrument interface.