Surgical system instrument sterile adapter

A sterile drape, comprising:

• a plurality of drape sleeves, each of the drape sleeves including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system;
• a plurality of sterile adapters, each of the sterile adapters disposed at a distal end of a corresponding drape sleeve, 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;
• and
• a rotatable seal adapted to couple a proximal opening of each of the drape sleeves to a rotatable element at a distal end of the manipulator arm.

A method of draping a manipulator arm of a robotic surgical system with a sterile drape, the method comprising:

• positioning a sterile adapter of the sterile drape adjacent to a distal end of an instrument manipulator having a plurality of manipulator actuator outputs;
• aligning apertures on the sterile adapter to corresponding posts on the instrument manipulator;
• passing the posts through corresponding apertures on the sterile adapter to engage a plurality of actuator interfaces on the sterile adapter with corresponding manipulator actuator outputs;
• draping the instrument manipulator from the distal end of the instrument manipulator to a proximal end of the instrument manipulator with a drape sleeve of the sterile drape, a distal end of the drape sleeve coupled to the sterile adapter;
• and
• coupling a rotatable seal of the sterile drape to a frame of the manipulator arm and to a rotatable base plate of the manipulator arm, a proximal end of the drape sleeve coupled to the rotatable seal.