Surgical system instrument sterile adapter

A sterile drape, comprising:

• a rotatable seal;
• a plurality of drape sleeves, each of the drape sleeves comprising a proximal end attachable to the rotatable seal so as to extend distally from the rotatable seal, each of the drape sleeves including an exterior surface positionable adjacent a sterile field for performing a surgical procedure and an interior surface positionable adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system;
• and
• a plurality of sterile adapters, each of the sterile adapters at a distal end of a corresponding one of the plurality of drape sleeves, each of the sterile adapters including:
• a housing configured to receive a distal face of the instrument manipulator having a plurality of manipulator actuator outputs;
• a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces;
• and
• a pair of supports coupled to the housing, the pair of supports configured to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are positioned opposite to corresponding manipulator actuator outputs with a corresponding actuator interface between each corresponding instrument actuator input and manipulator actuator output,
• wherein the rotatable seal is engageable with a rotatable element at a distal end of the manipulator arm so as to couple the plurality of sleeves, in an attached state with the rotatable seal, to the distal end of the manipulator, and
• wherein each drape sleeve of the plurality of drape sleeves is independently extendable and retractable with respect to each of the other drape sleeves of the plurality of drape sleeves.