Surgical system instrument sterile adapter

A method of draping a robotic surgical system, the robotic surgical system including a first manipulator and a plurality of second manipulators coupled to the first manipulator, the first manipulator being configured to move the plurality of second manipulators as a single unit, each one of the plurality of second manipulators being configured to drive a corresponding instrument, the method comprising:

• positioning a sterile adapter of a surgical system drape adjacent to a distal end of a corresponding second manipulator of the plurality of second manipulators, wherein each of the plurality of second manipulators includes a plurality of manipulator actuator outputs,
• wherein the surgical system drape comprises:
• a first drape portion configured to receive the first manipulator;
• a second drape portion including a plurality of drape sleeves, each of the plurality of drape sleeves being configured to receive a corresponding one of the plurality of second manipulators;
• a rotatable seal coupling the second drape portion to the first drape portion;
• and
• a plurality of sterile adapters, each of the plurality of sterile adapters being at a distal end of a corresponding drape sleeve of the plurality of drape sleeves, and each of the plurality of sterile adapters including a housing, a membrane including a plurality of actuator interfaces, a plurality of coupling members, and a plurality of supports;
• wherein for each of the plurality of sterile adapters:
• the housing is configured to receive a distal face of one of the plurality of secondary manipulators;
• the membrane is positioned between the housing and the plurality of supports;
• each of the plurality of coupling members extends from the housing through the membrane to one of the plurality of supports;
• each of the plurality of coupling members couple the housing to one of the plurality of supports;
• and
• each of the plurality of supports is configured to retain a surgical instrument having a plurality of instrument actuator inputs so that each of the plurality of instrument actuator inputs of the surgical instrument is positioned opposite to a different one of the manipulator actuator outputs of the corresponding second manipulator with an actuator interface of the plurality of actuator interfaces positioned between each corresponding instrument actuator input of the plurality of instrument actuator inputs and each corresponding manipulator actuator output of the plurality of manipulator actuator outputs;
• and
• wherein the plurality of sterile adapters includes the sterile adapter;
• aligning apertures on the sterile adapter to corresponding posts on the corresponding second manipulator of the plurality of second manipulators;
• passing the posts through the apertures on the sterile adapter to engage the plurality of actuator interfaces on the sterile adapter with corresponding manipulator actuator outputs of the corresponding second manipulator;
• and
• draping the corresponding second manipulator of the plurality of second manipulators with a drape sleeve of the plurality of drape sleeves of the surgical system drape.

A surgical system drape for a robotic surgical system, the robotic surgical system including a first manipulator and a plurality of second manipulators coupled to the first manipulator, the first manipulator being configured to move the plurality of second manipulators as a single unit, each one of the plurality of second manipulators being configured to drive a corresponding instrument, the surgical system drape comprising:

• a first drape portion configured to receive the first manipulator;
• a second drape portion including a plurality of drape sleeves, wherein each of the plurality of drape sleeves is configured to receive a corresponding one of the plurality of second manipulators;
• a rotatable seal coupling the second drape portion to the first drape portion;
• and
• a plurality of sterile adapters, wherein each of the plurality of sterile adapters is disposed at a distal end of a corresponding drape sleeve of the plurality of drape sleeves, wherein each of the plurality of sterile adapters includes a housing and a plurality of actuator interfaces mounted in the housing, and wherein each housing is configured to receive a distal face of a corresponding one of the plurality of second manipulators.