Patent Publication Number: US-2021177536-A1

Title: Sterile barrier systems and methods for robotic surgery systems

Description:
TECHNICAL FIELD 
     This disclosure relates generally to robotic surgery systems and more particularly to sterile barrier systems and methods for such systems. 
     DESCRIPTION OF RELATED ART 
     Preventing surgical site infection in the operating room is one of the most important goals of a surgical team. Typically, the surgical team accomplishes this goal by creating and maintaining a sterile field, which can include environmental cleaning, disinfection, and sterilization of instruments. Creation and maintenance of the sterile field can impose the requirement that all items used within a sterile field remain sterile. When a robotic surgery system is used in the operating room, creation and maintenance of sterile field can present a number of challenges that have not been resolved by existing approaches. For example, due to the size and complexity, it may not be possible to sterilize the entire robotic surgery system. In many cases, partial sterilization may not be feasible or effective. The present disclosure overcomes these and other problems associated with known approaches for creating and maintaining sterility of a robotic surgery system used in the operating room. 
     SUMMARY 
     A sterile barrier system (or a sterile barrier) for a robotic surgery apparatus can include a drape coupler. The drape coupler can include an external surface configured to face a first surface of a first portion of the robotic surgery apparatus. The drape coupler can include at least one drape coupler fastener positioned at least partially on the external surface and configured to removably attach the drape coupler to the first surface. The drape coupler can be configured to at least partially cover the first surface. The system can include 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. The drape coupler and the drape can be sterile. 
     The system (or barrier) of any of the preceding paragraphs and/or any of the systems described herein can include one or more of the following features. The first portion of the robotic surgery apparatus can include a manipulator unit. The first surface can include a manipulating surface of the manipulator unit. The at least one drape coupler fastener can be configured to removably attach the drape coupler to the manipulating surface of the manipulator unit. The second surface can include at least one side surface of the manipulator unit. The drape can be configured to enclose the at least one side surface of the manipulator unit. The at least one drape coupler fastener can include ferromagnetic material configured to be attached to a magnet positioned on the first surface. The at least one drape coupler fastener can include a plurality of fasteners with ferromagnetic material and configured to be attached to a plurality of magnets positioned on the first surface. The drape can be coupled to the drape coupler along a perimeter of the drape coupler. The drape can include an opening configured to expose a surgical instrument interface of the first portion of the robotic surgery apparatus. The surgical instrument interface can be configured to cause actuation of a surgical instrument. The drape coupler can include at least one removable protector configured to cover the opening of the drape coupler. 
     The system (or barrier) of any of the preceding paragraphs and/or any of the systems described herein can include one or more of the following features. The drape coupler can include at least one region made at least partially of flexible material. The at least one region can be positioned adjacent to the opening and configured to collapse and expand. The at least one region can include first and second regions. The first region can be positioned adjacent to a first side of the opening. The second region can be positioned adjacent to a second side of the opening opposite the first side. The first and second regions can be configured to collapse and expand in response to movement of the opening. The at least one region can include an insert made at least partially of material that is more rigid than the material of the at least one region. The insert can be configured to cause the flexible material of the at least one region to fold when the at least one region is collapsed. The insert can include at least one tapered edge. 
     A kit can include a system (or barrier) of any of the preceding paragraphs and/or any of the systems described herein. A kit can include a sterile adapter configured to be received at (or fit into, or cover) the opening and to be removably attached to the surgical instrument interface. The sterile adapter can be configured to provide a sterile barrier between the surgical instrument interface and a surgical instrument. 
     The kit of the preceding paragraph and/or any of the kits described herein can include one or more of the following features. The sterile adapter can include a plurality of actuator covers configured to couple to a plurality of instrument actuators positioned on the surgical instrument interface. The actuator covers can be configured to move in at least one direction to facilitate at least one of movement or articulation of the surgical instrument mounted to the surgical instrument interface. The actuator covers can be positioned in a first position prior to positioning the cover on the surgical instrument interface. The actuator covers can be configured to be aligned in the first position. The sterile adapter can include a retainer surrounding the actuator covers. The retainer can be configured to maintain positioning of the actuator covers in the first position. The retainer can be removable to permit at least one of the actuator covers to be moved to a position different than the first position. 
     The system (or barrier) of any of the preceding paragraphs and/or any of the systems described herein can include one or more of the following features. The drape can include at least one drape fastener configured to removably attach the drape to a second surface of the first portion of the robotic surgery apparatus. The at least one drape fastener can include a bendable material and is configured to be wrapped around at least one protrusion on the second surface. The drape can include a first region including a first drape fastener and a second region including a second drape fastener. The first region can be configured to be positioned over the second region and fastened to the second region by attachment of the first drape fastener to the second drape fastener. The drape can include a cover made of a material more rigid than the flexible material of the drape. The cover can be configured to enclose a pin positioned on the second surface and configured to be inserted into an opening of at least one of a surgical instrument insertion device or a camera insertion device of the robotic surgery apparatus. The cover can be configured to provide a sterile barrier between the pin and the opening. The drape can include an insert made of a material more rigid than the flexible material of the drape. The insert can be configured to be positioned in an opening in the first portion of the robotic surgery apparatus that receives a portion of an endoscopic camera of the robotic surgery apparatus. The insert can be configured to provide a sterile barrier between the endoscopic camera and the first portion. The insert can include first and second elongated side surfaces connected at one end and not connected at an opposite end to form an opening. The opening can be configured to be inserted into the opening of the first portion and to receive the endoscopic camera. 
     The system (or barrier) of any of the preceding paragraphs and/or any of the systems described herein can include one or more of the following features. The drape can include a first pocket configured to receive and at least partially enclose a first hand of a user. The first pocket can be configured to facilitate positioning of the drape on (and/or, optionally, maintain sterility of the drape during attachment of the drape to) the first portion of the robotic surgery apparatus. The drape can include a second pocket configured to receive and at least partially enclose a second hand of a user. The second pocket can be configured to facilitate positioning of the drape on (and/or, optionally, maintain sterility of the drape during attachment of the drape to) the first portion of the robotic surgery apparatus. The second pocket can distinct from the first pocket. The first and second pockets can be positioned to allow a user to lift the drape away from the second surface while maintaining a sterile barrier for the first portion of the robotic surgery apparatus. The drape coupler can be made from material that is more rigid that the flexible material of the drape. The manipulator unit can be hexahedron shaped and the manipulating surface of the manipulator unit can be a bottom surface of the manipulator unit. 
     An instrument adapter for a robotic surgery apparatus can include a housing configured to receive and support an actuator housing of a surgical instrument. The actuator housing can include a plurality of surgical instrument actuators. The adapter can include a plurality of interface actuators configured to engage with the plurality of instrument actuators of the actuator housing and cause movement of the instrument actuators. Movement of the instrument actuators can cause movement of an end effector of the surgical instrument. The adapter can include a guide configured to receive the actuator housing of the surgical instrument and allow the actuator housing to move (for example, forward and backward, side to side, or otherwise from one position to another position) within the housing. The guide can be configured to allow the actuator housing to be positioned in the housing in a first orientation in which the interface actuators are not engaged with the instrument actuators of the surgical instrument, thereby facilitating removal of the actuator housing from the housing. The adapter can include a fastener configured to engage the actuator housing of the surgical instrument. The fastener can be configured to transition from a first position in which the actuator housing is positioned in the first orientation to a second position in which the actuator is positioned in a second orientation in which the interface actuators are engaged with the instrument actuators of the surgical instrument. The transition of the fastener from the first position to the second position can cause a rotation of the actuator housing. 
     The adapter of the preceding paragraph and/or any of the adapters described herein can include one or more of the following features. The guide can be configured to receive the actuator housing at an angle. A plane in which the guide is oriented can be tilted relative to a plane in which the interface actuators are oriented. Interface actuators can be oriented in a horizontal plane. The fastener can include a latch configured to be locked when the fastener is in the second position. The fastener can be configured to transition from the first position to the second position to cause rotation of the actuator housing. The fastener can include a protrusion configured to engage with an opening in the actuator housing of the surgical instrument and cause the actuator housing to be rotated. The guide can be configured to not support the actuator instrument housing when the housing is rotated. At least one of the interface actuators can include a distal end configured to face a corresponding instrument actuator opening and a proximal end opposite the distal end. The at least one interface actuator can be tapered toward the distal end. The interface actuators are configured to engage with the instrument actuators of the surgical instrument and move from a first position to a second position to cause the instrument actuators to correspondingly move from the first position to the second position. Movement of the instrument actuators can cause movement of the end effector. The adapter can be sterile. 
     The adapter of any of the preceding paragraphs and/or any of the adapters described herein can include one or more of the following features. The interface actuators can be positioned in a top portion of the housing. The guide can be positioned in a first portion of a side of the housing. The fastener can be positioned in a second portion of the side of the housing. 
     A manipulator unit of a robotic surgery apparatus can include a surgical actuation interface configured to receive the instrument adapter of any of the preceding paragraphs and/or any of the instrument adapters described herein. 
     A method of positioning a surgical instrument in a robotic surgery apparatus can include positioning an instrument interface on the robotic surgery apparatus. The instrument interface can include a housing including a plurality of interface actuators configured to cover (or covering) a plurality of instrument actuators of the robotic surgery apparatus. The method can include inserting an actuator housing of the surgical instrument into the housing of the instrument interface. The method can include rotating the actuator housing within the housing of the instrument interface to cause a plurality of instrument actuators of the surgical instrument to engage with the plurality of instrument actuators of the robotic surgery apparatus covered by the plurality of interface actuators of the instrument interface. Actuation of the instrument actuators of the robotic surgery apparatus can cause corresponding actuation of the instrument actuators. Actuation of the instrument actuators of the robotic surgery apparatus can cause movement of an end effector of the surgical instrument. 
     The method of the preceding paragraph and/or any of the methods described herein can include one or more of the following features. Inserting the actuator housing of the surgical instrument into the housing of the instrument interface can include inserting the actuator housing at an angle relative to a plane in which the interface actuators are oriented. Inserting the actuator housing at the angle can include guiding the actuator housing through a slot of the housing oriented in a plane that is at the angle relative to the plane in which the interface actuators are oriented. The method can include guiding the actuator housing past the slot of the housing into a portion of the housing adjacent to the slot. When the actuator housing is not rotated, the plurality of instrument actuators of the robotic surgery apparatus (which may be covered by the plurality of interface actuators of the instrument interface) may not be not engaged with the instrument actuators of the surgical instrument. Rotating the actuator housing can include operating a fastener of the instrument interface. Operating the fastener can include moving the fastener upward and locking a fastener latch. The method can include removing the actuator housing from the housing of the instrument interface by unlocking the latch. Unlocking the latch can cause the fastener to move downward and causes the actuator housing to rotate. Rotating the actuator housing can include rotating the actuator housing about an axis traversing a center of a shaft of the surgical instrument, the shaft connecting the actuator housing to the end effector. The instrument interface can be sterile. 
     An instrument adapter for a robotic surgery apparatus can include an adapter housing configured to receive and support an actuator housing of a surgical instrument. The actuator housing can include a plurality of surgical instrument actuators. The adapter can include a plurality of interface actuators configured to engage with the plurality of instrument actuators of the actuator housing and cause movement of the instrument actuators. Movement of the instrument actuators can cause movement of an end effector of the surgical instrument. The instrument adapter can be configured to facilitate the actuator housing of the surgical instrument to transition from a first orientation in which the interface actuators are not engaged with the instrument actuators of the surgical instrument to a second orientation in which the interface actuators are engaged with the instrument actuators. 
     The adapter of any of the preceding paragraphs and/or any of the adapters described herein can include one or more of the following features. Transition of the actuator housing from the first orientation to the second orientation can include rotation of the actuator housing. The adapter can include a guide configured to facilitate movement of the actuator housing at an angle. The guide can be oriented in a plane that is tilted relative to a plane in which the interface actuators are oriented. Interface actuators can be oriented in a horizontal plane. A length of the guide can be smaller than a length of the actuator housing of the surgical instrument. The adapter can include a fastener configured to engage the actuator housing of the surgical instrument and cause the actuator housing to transition from the first orientation to the second orientation. The fastener can include a protrusion configured to engage with a groove in the actuator housing of the surgical instrument. The adapter can be configured to facilitate the actuator housing of the surgical instrument to transition from the second orientation to the first orientation. The adapter can be sterile. 
     A method of preparing a robotic surgery apparatus for a medical procedure (or a method of draping the robotic surgery apparatus) can include covering a manipulator unit of the robotic surgery apparatus with a first sterile barrier. Covering the manipulator unit can include coupling a drape coupler of the first sterile barrier to a bottom surface of the manipulator unit. Covering the manipulator unit can include wrapping a drape of the first sterile barrier around side and top surfaces of the manipulator unit. The drape can be coupled to the drape coupler. The drape can be made of material that is more flexible than material of the drape coupler. The method can include covering an arm of the robotic surgery apparatus supporting the manipulator unit with a second sterile barrier that is distinct from the first sterile barrier. Covering the arm can include coupling the second sterile barrier to the arm. Covering the arm can include wrapping the second sterile barrier around the arm. 
     The method of any of the preceding paragraphs and/or any of the methods described herein can include one or more of the following features. The first and second sterile barriers can include sterile surfaces configured to face away from the robotic surgery apparatus. Covering the arm with the second sterile barrier can include covering a part of the drape of the first sterile barrier with the second sterile barrier. Covering the part of the drape of the first sterile barrier with the second sterile barrier can facilitate independent movement of the second sterile barrier without causing movement of the drape of the first sterile barrier. Covering the arm with the second sterile barrier can include coupling at least a part of the drape of the first sterile barrier with at least a part of the second sterile barrier. Coupling the drape coupler can include attaching at least one fastener of the drape coupler to at least one fastener positioned on the bottom surface of the manipulator unit. Coupling the second sterile barrier can include attaching at least one fastener of the second sterile barrier to at least one fastener of the arm. The at least one fastener can be positioned on a surface of the arm. 
     The method of any of the preceding paragraphs and/or any of the methods described herein can include one or more of the following features. Attaching the at least one fastener of the drape coupler to the at least one fastener positioned on the bottom surface of the manipulator unit can include causing magnetic coupling. Attaching the at least one fastener of the second sterile barrier to the at least one fastener of the arm can include causing magnetic coupling. The method can include coupling a sterile adapter to an instrument interface positioned on the bottom surface of the manipulator unit. The instrument interface can be configured to support and actuate an instrument. The method can include covering a pin of the manipulator unit with a sterile roller by positioning the roller on the pin. The pin and roller can be configured to cooperate to extend and retract a camera. The method can include removing first and second sterile barriers. The method can include covering a patient cart of the robotic surgery apparatus with a third sterile barrier. Covering can include coupling the third sterile barrier to the patient cart. Coupling the third sterile barrier to the patient cart can include attaching at least one fastener of the third sterile barrier to at least one fastener. The at least one fastener can be positioned on or adjacent to a surface of the patient cart. Attaching the at least one fastener of the third sterile barrier to the at least one fastener of the patient cart can include causing magnetic coupling. Wrapping the drape of the first sterile barrier around side and top surfaces of the manipulator unit can include coupling the drape to the top surface of the manipulator unit. Coupling the drape of the first sterile barrier to the top surface of the manipulator unit can include causing magnetic coupling. 
     A method of preparing a robotic surgery apparatus for a medical procedure (or a method of draping the robotic surgery apparatus) can include positioning a first sterile barrier on a first portion of the robotic surgery apparatus. Positioning the first sterile barrier can include coupling a drape coupler of the first sterile barrier to a surface of the first portion of the robotic surgery apparatus configured to support at least one surgical instrument of the robotic surgery apparatus. Positioning the first sterile barrier can include wrapping a drape of the first sterile barrier around one or more other surfaces of the first portion of the robotic surgery apparatus. The drape can be coupled to the drape coupler. The method can include positioning a second sterile barrier that is distinct from the first sterile barrier on a second portion of the robotic surgery apparatus adjacent to the first portion of the robotic surgery apparatus. Positioning the second sterile barrier can include coupling the second sterile barrier to the second portion. Positioning the second sterile barrier can include wrapping the second sterile barrier around the second portion. 
     The method of any of the preceding paragraphs and/or any of the methods described herein can include one or more of the following features. Material of the drape coupler can be more rigid than material of the drape of the first sterile barrier. Positioning the second sterile barrier can include covering a portion of the drape of the first sterile barrier with the second sterile barrier. Covering can facilitate independent movement of first and second sterile barriers. First and second sterile barriers can include sterile surfaces configured to face away from the robotic surgery apparatus. Coupling the drape coupler can include attaching at least one fastener of the drape coupler to at least one fastener positioned on the surface of the first portion of the robotic surgery apparatus. Coupling the drape coupler can coupling the second sterile barrier can include attaching at least one fastener of the second sterile barrier to at least one fastener of the second portion of the robotic surgery apparatus. The at least one fastener can be positioned on or adjacent to a surface of the second portion. The method can include coupling a sterile adapter to an instrument interface positioned on the surface of the first portion of the robotic surgery apparatus. The instrument interface can be configured to support and actuate the at least one surgical instrument. The method can include covering a pin of the first portion with a sterile cover by positioning the cover on the pin, the pin and cover configured to cooperate to extend and retract a camera. The method can include removing the first and second sterile barriers. 
     The method of any of the preceding paragraphs and/or any of the methods described herein can include one or more of the following features. The method can include positioning a third sterile barrier on a third portion of the robotic surgery apparatus. The positioning can include coupling the third sterile barrier to the third portion. Coupling the third sterile barrier to the third portion can include attaching at least one fastener of the third sterile barrier to at least one fastener of the third portion. The at least one fastener can be positioned on or adjacent to a surface of the third portion. Attaching the at least one fastener of the third sterile barrier to the at least one fastener of the third portion can include causing magnetic coupling. 
     A sterile barrier for a robotic surgery apparatus can include a drape made of a flexible material. The drape can include a first surface configured to face a component of the robotic surgery apparatus and a second surface opposite the first surface. The second surface can be sterile and configured to provide a sterile barrier for the component. The barrier can include a first pair of pockets positioned along a first edge of the second surface and configured to receive hands of a user. The first pair of pockets can be configured to facilitate positioning of the sterile barrier on the component. The first pair of pockets can be configured to facilitating maintaining sterility of the second surface of the drape when the drape is attached to the component (and, optionally, when the drape is at least partially wrapped around the component). 
     The barrier of any of the preceding paragraphs and/or any of the barriers described herein can include one or more of the following features. The barrier can include a plurality of fasteners positioned on the first surface of the drape. The fasteners can be configured to removably position the drape on the component. The fasteners can include ferromagnetic material configured to be attached to at least one magnet (and/or a plurality of magnets) positioned on (or adjacent to) a surface of the component. At least one of the fasteners can be positioned in a region of the drape that overlaps a pocket of the first pair of pockets. The first pair of pockets can include visual indicators, which may be positioned on interior surfaces of the first pair of pockets. The visual indicators can be configured to guide the user to insert the hands in a correct position into the first pair of pockets. The barrier can include a second pair of pockets positioned along the first edge of the second surface and configured to receive the hands of the user. The barrier can include a first fastener positioned on an exterior surface of a first pocket of the first pair of pockets. The exterior surface of the first pocket of the first pair of pockets can be part of the second surface of the drape. The barrier can include a second fastener positioned on an exterior surface of a second pocket of the first pair of pockets. The exterior surface of the second pocket of the first pair of pockets can be part of the second surface of the drape. The first and second fasteners can be configured to be attached to another pair of fasteners to retain the drape wrapped around a portion of the component. 
     The barrier of any of the preceding paragraphs and/or any of the barriers described herein can include one or more of the following features. The barrier can include a third fastener positioned on an exterior surface of a first pocket of the second pair of pockets. The barrier can include a fourth fastener positioned on an exterior surface of a second pocket of the second pair of pockets. The third and fourth fasteners can be configured to be attached to the first and second fasteners to retain the drape wrapped around the portion of the component. The barrier can include a drape coupler made of a material more rigid that the flexible material of the drape, wherein the drape is coupled to the drape coupler. The barrier can include at least one fastener configured to be wrapped around a protrusion of the component thereby tightening the drape around the protrusion. The barrier can include a second pocket positioned below a pocket of the first pair of pockets. The second pocket can be configured to receive a first portion of the hand of the user to facilitate wrapping the drape at least partially around the component. The second pocket can be configured to receive only the first portion of the hand but not the entire hand. The barrier can include a third pocket positioned along a second edge of the drape that is opposite the first edge of the drape along which the first pair of pockets is positioned. The third pocket can be configured to receive a second portion of the hand of the user to facilitate wrapping the drape at least partially around the component. The third pocket can be configured to receive only the second portion of the hand but not the entire hand. 
     A kit can include first and second sterile barriers of any of the preceding paragraphs and/or any of the sterile barriers described herein. The first sterile barrier can include a first drape. The second sterile can include a second drape. The first drape can be configured to cover the component. The second drape can be configured to cover a second component of the robotic surgery apparatus adjacent to the component. The second drape can be configured to cover a portion of the first drape. 
     The kit of the preceding paragraph and/or any of the kits described herein can include one or more of the following features. The second drape can include first and second fasteners, which can be positioned on opposite sides of the second drape. The first and second fasteners can be configured to be attached to each other to retain positioning of the second drape over the first drape. The kit can include at least one sterile cover configured to cover an instrument interface of the component. The instrument interface can be configured to support and actuate a surgical instrument. The kit can include at least one sterile roller configured to cover a pin of the component. The pin and roller can be configured to cooperate to extend and retract a camera. The kit can include a third sterile barrier including a third drape. The third drape can be configured to be positioned on a third component of the robotic surgery apparatus and/or to provide a sterile barrier for the third component. 
     A robotic surgery apparatus can include a component including a housing with an external surface. The apparatus can include a plurality of component fasteners positioned on the external surface of the housing. The plurality of component fasteners can be configured to couple with a plurality of drape fasteners of a sterile drape. The sterile drape can be configured to cover a portion of the surface of the housing and to provide a sterile barrier for the portion of the surface. A number of component fasteners in the plurality of component fasteners can exceed a number of drape fasteners in the plurality of drape fasteners, permitting the drape to be positioned on the housing of the component in a plurality of orientations and to cover a plurality of different portions of the surface of the housing. When the drape is positioned on the housing, at least one component fastener of the plurality of component fasteners may not be coupled to any of the drape fasteners of the plurality of drape fasteners. 
     The apparatus of any of the preceding paragraphs and/or any of the apparatuses described herein can include one or more of the following features. The component fasteners can be configured to support the drape. At least one component fastener can include a magnet. The external surface of the housing can include a recess. The magnet can be configured to be positioned in the recess. The recess can be configured to receive a drape fastener. The magnet can be configured to be positioned at a bottom of the recess. The recess can include at least one wall oriented substantially perpendicular to a surface of the magnet configured to couple with the drape fastener. The apparatus can include electronic circuitry configured to detect positioning and orientation of the drape. The electronic circuitry can be configured to determine if the drape is correctly positioned and generate an indication in response to a determination that the drape is not correctly positioned. The electronic circuitry can include at least one proximity sensor. The component can include a patient cart. The at least one component fastener can include indicia on a surface of the at least one component fastener. The indicia can be configured to facilitate coupling of a drape fastener. 
     A method of preparing a robotic surgery apparatus for a medical procedure (or a method of draping the robotic surgery apparatus) can include, from a plurality of sterile barrier positions, identifying a desired position of a sterile barrier on a component of the robotic surgery apparatus. The method can include covering at least a portion of a surface of the component with the sterile barrier by positioning the sterile barrier in the desired position. The positioning can include coupling a plurality of sterile barrier fasteners to a subset of a plurality of fasteners of the component. 
     The method of any of the preceding paragraphs and/or any of the methods described herein can include one or more of the following features. A number of the fasteners of the component can exceed a number of the sterile barrier fasteners. Positioning the sterile barrier can include not coupling any of the sterile barrier fasteners to at least one fastener of the component. The method can include removing the sterile barrier by decoupling the plurality of sterile barrier fasteners from the subset of the plurality of fasteners of the component. The method can include verifying that the sterile barrier is correctly positioned based on an output of an electronic circuitry of the robotic surgery apparatus. The electronic circuitry can be configured to detect if the sterile barrier is correctly positioned in the desired position and output an indication that the sterile barrier is not correctly positioned. 
     A robotic surgery apparatus can include a component including a housing with an external surface. The apparatus can include a component fastener positioned on the external surface of the housing. The component fastener can be configured to couple with a drape fastener of a sterile drape. The sterile drape can be configured to cover a portion of the surface of the housing and to provide a sterile barrier for the portion of the surface. At least one dimension of the component fastener can exceed at least one corresponding dimension of the drape fastener, permitting the drape to be positioned on the housing of the component in a plurality of orientations and to cover a plurality of different portions of the surface of the housing. The component fastener can be configured to support the drape. 
     The apparatus of any of the preceding paragraphs and/or any of the apparatuses described herein can include one or more of the following features. The at least one dimension can include length. The component fastener can be configured to support the drape. 
     A method of preparing a robotic surgery apparatus for a medical procedure (or a method of draping the robotic surgery apparatus) can include, from a plurality of sterile barrier positions, identifying a desired position of a sterile barrier on a component of the robotic surgery apparatus. The method can include covering at least a portion of a surface of the component with the sterile barrier by positioning the sterile barrier in the desired position. The positioning can include coupling a sterile barrier fastener to a component fastener of the component. At least one dimension of the component fastener can exceed at least one corresponding dimension of the drape fastener. 
     The method of any of the preceding paragraphs and/or any of the methods described herein can include one or more of the following features. The at least one dimension of the component fastener exceeding the at least one corresponding dimension of the drape fastener can permit the drape to be positioned in a plurality of orientations and to cover a plurality of different portions of the surface of the component. The at least one dimension can include length. The component fastener can be configured to support the drape. 
     Any of the sterile barriers and/or adapters of any of preceding paragraphs and/or described below can be used with any of the robotic surgery system components. 
     In some cases, a robotic surgery system as described and/or illustrated is provided. In some cases, one or more sterile barriers as described and/or illustrated are provided. In some cases, one or more sterile adapters as described and/or illustrated are provided. In some cases, one or more kits as described and/or illustrated are provided. 
     In some cases, a method of using and/or operating a robotic surgery system or any of its components as described and/or illustrated is provided. In some cases, methods of preparing a robotic surgery apparatus for a medical procedure as described and/or illustrated are provided. Any of such methods can include positioning one or more sterile barriers and/or adapters on any of the components of the robotic surgery system (or covering any of the components with any of the sterile barriers) as described and/or illustrated. 
     Any of the methods of any of the preceding paragraphs and/or described herein can be used with any of the sterile barriers, adapters, kits, and/or robotic surgery systems. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Embodiments of the present disclosure will now be described hereinafter, by way of example only, with reference to the accompanying drawings in which: 
         FIGS. 1A-1D  illustrate a robotic surgery system; 
         FIGS. 2A-2G  illustrate a sterile barrier for the robotic surgery system; 
         FIGS. 3A-3F  illustrate a sterile barrier for a manipulator unit of the robotic surgery system; 
         FIGS. 4A-40  illustrate a sterile adapter for a surgical instrument; 
         FIG. 5  illustrates a sterile barrier for an elevating linkage assembly of the robotic surgery system; 
         FIG. 6A  illustrates a sterile barrier for a boom arm assembly of the robotic surgery system; 
         FIG. 6B  illustrates various orientations of the sterile barrier of  FIG. 6A ; 
         FIGS. 7A-7C  illustrate labels; 
         FIGS. 8A-8W  illustrate covering components of the robotic surgery system with one or more sterile barriers; 
         FIG. 9  illustrates fasteners of the robotic surgery system; 
         FIG. 10  illustrates sterile barrier kits; 
         FIG. 11  illustrates positioning of a sterile barrier on a robotic surgery system component. 
     
    
    
     DETAILED DESCRIPTION 
     Overview of Robotic Surgery System 
     Using a robotic surgery system in the operating room can require placing one or more components of the system within the sterile field in the operating room, while placing other components of the system outside the sterile field. Creating and maintaining the sterile field in the operating room when components of the robotic surgery system are present can be challenging. For example, non-sterile components of the system (such as, the workstation as described herein) may be placed outside the sterile field, and it is important to ensure that such components or connections between non-sterile and sterile components do not contaminate sterile items, personnel, or the patient within the sterile field. As another example, sterilizing the one or more components of the system positioned within the sterile field may not be practical due to the size and complexity of the one or more components. As described herein, one or more sterile barriers covering one or more components of the system can be utilized to create and maintain the sterile field. 
     Referring to  FIG. 1A , a robotic surgery system is shown generally at  1000 . In some implementations, the robotic surgery system  1000  can be configured to facilitate a medical procedure (for example, surgery) performed via one or more incisions. For a single incision, a single access port can be inserted into the incision to provide access for one or more instruments (sometimes referred to as surgical instruments, tools or surgical tools) or cameras (or other non-tissue manipulating equipment, including advanced visualization equipment). 
     The system  1000  can include a workstation  102  and a patient cart  104 . One or more of the patient cart  104  or the workstation  102  can be moveable. The patient cart  104  can include a manipulator unit or central unit  400  to which one or more instrument insertion and visualization devices  108  can be attached or mounted. The central unit  400  can be supported by an elevating linkage assembly  300  (sometimes referred to as an arm) connected to a boom arm assembly  200  (sometimes referred to as a column) of the patient cart. The central unit  400  can be moveable, such as in three dimensions, to facilitate desired positioning of one or more surgical instruments or cameras. Movement of the central unit  400  can be facilitated by one or more of the arm  300  and column  200 . For example, the column  200  can facilitate vertical positioning of the central unit  400 , and the arm  300  can facilitate further vertical positioning in addition to lateral movement and rotation of the central unit  400 . 
     The instrument insertion and visualization device  108 , which can be removably mounted to the central unit  400 , can support at least one surgical instrument and one or more cameras (not shown) that image a site of interest, such as a surgical site. The instrument insertion and visualization device  108  can support two or more instruments (not shown). The one or more cameras can include a primary camera and at least one secondary camera. The primary camera and the secondary camera may provide different viewing angles, perform different functions and/or produce different images. At least one of the primary camera and the secondary camera may be a two-dimensional (2D) or a three-dimensional (3D) camera. 
     The workstation  102  can include an input device  112  that receives operator input and produces input signals and may also be configured to generate feedback to the operator or user. The feedback can be visual, auditory, haptic, or the like. The input device  112  can be implemented using a haptic interface available from Force Dimension, of Switzerland, for example. The operator can be a surgeon. 
     The workstation  102  can further include electronic circuitry  114  in communication with the input device for receiving the input signals and generating control signals for controlling the robotic surgery system, which can be transmitted to the patient cart  104  via an interface cable  116 . In some cases, data transmission can be wireless and the interface cable  116  may not be present. The electronic circuitry  114  can include one or more processors or controllers. The electronic circuitry  114  can function as a master for controlling movement of one or more surgical instruments or cameras mounted to the patient cart  104 . The patient cart can include electronic circuitry  118 , which can include one or more processors or controllers. The electronic circuitry  118  can function as a slave and be controlled by the electronic circuitry  114 . Communication between the electronic circuitry  114  of the workstation  102  and the electronic circuitry  118  of the patient cart  104  may wired (such as, via the cable  116 ) or wireless. The workstation  102  may be located remotely from the patient cart  104 , such as outside the operating room or in a non-sterile area of the operating room. 
     The input device can include a right input device  132  and a left input device  112  for controlling respective right and left instruments (not shown). The right input device  132  can include a right hand controller  122  (sometimes referred to as a hand grip or handpiece), and the left input device  112  can include a left hand controller  124 . The right and left hand controllers  122  and  124  can be mechanically and/or electrically coupled to the respective input devices  132  and  112 . Alternatively, the right and left hand controllers  122  and  124  may be wirelessly coupled to the respective input devices  132  and  112  or may be wireless coupled directly to the workstation  102 . The right and left hand controllers  122  and  124  can be grasped by the operator&#39;s hands and moved to produce input signals at the respective input devices  132  and  112 . 
     In some cases, when there are two instruments at the patient cart  104 , the right and left hand controllers  122  and  124  may respectively control the two instruments. In some cases, when there are more than two instruments, the right and left hand controllers  122  and  124  may be used to select two of the multiple instruments that the operator wishes to use at any given time. In some cases, when there is only one instrument, one of the right and left hand controllers  122  and  124  may be used to select the single instrument. 
     The input devices  132  and  112  may generate input signals representing positions of the hand controllers  122  and  124  within an input device workspace (not shown). In some cases where the input devices  132  and  112  are coupled directly and wirelessly to the workstation, they would include the necessary sensors to allow wireless control such as an accelerometer, a gyroscope and/or magnetometer. In other cases, a wireless connection of the input devices  132  and  112  to the workstation  102  may be accomplished by the use of camera systems alone or in combination with the described sensors. Such sensors for wireless functionality may also be placed in each handpiece to be used in conjunction with the input devices  132  and  112  to independently verify the input device data. The electronic circuitry  114  can be in communication with the input devices  132  and  112  for receiving the input signals. 
     The electronic circuitry  118  of the patient cart  104  can receive control signals from the electronic circuitry  114  and produce slave control signals operable to control the instrument insertion and visualization device  108  and one or more instruments (and their respective end effectors) and/or cameras during a surgical procedure. The one or more instruments can include dexterous tools, such as grippers, needle drivers, staplers, dissectors, cutters, hooks, graspers, scissors, coagulators, irrigators, and suction devices used for performing a surgical procedure (such as a laparoscopic surgical procedure). While both master and slave electronic circuitry  114  and  118  are illustrated, in some cases a single electronic circuitry may be used to perform both master and slave functions. 
     The workstation  102  can also include a user interface, such as a display  120  in communication with the electronic circuitry  114  for displaying information (such as, body cavity images) for a region or site of interest (for example, a surgical site, a body cavity, or the like) and other information to the operator. The display  120  can display real time images or other graphical depictions of a surgical site produced by one or more cameras of the visualization device (not shown) and/or one or more cameras of the instrument insertion and visualization device  108 . The workstation  102  may include right and left graphical depictions (not shown) displayed on the display  120  respectively for the right and left side instruments (not shown). The graphical depictions may be displayed at a peripheral region of the display  120  to prevent obscuring a live view of the surgical workspace also displayed on the display. The display  120  may further be operable to provide other visual feedback or instructions to the user. 
     The workstation  102  can include a second auxiliary display  123  to display auxiliary surgical information to the user, for example, patient medical charts, pre-operation images and surgical data. In some cases, the auxiliary display  123  may be a touch display and may also be configured to display graphics representing additional inputs for controlling the workstation  102 , the patient cart  104 , and/or specific functions thereof. 
     The workstation  102  can also include one or more controllers, such as one or more footswitches or pedals  126 , for controlling the robotic surgery system. For example, one or more pedals  126  can include a clutch pedal that allows repositioning the hand controllers  122  or  124  without corresponding movement of the respective associated instrument. The clutch pedals  126  can provide input signals to the electronic circuitry  114 , and the electronic circuitry may inhibit movement of the associated instrument while the footswitch  126  is depressed. 
       FIG. 1B  illustrates a close-up front perspective view of a portion of the patient cart  104 . The illustrated portion includes the central unit  400  (which can be shaped as a hexahedron), the arm  300 , and an upper portion of the column  200 .  FIG. 1C  illustrates a close-up rear perspective view of the portion of the patient cart  104  illustrated in  FIG. 1B . The central unit  400  can include one or more attachments or fasteners  302  and  304 , which can be positioned around the perimeter or circumference of the central unit as illustrated (such as, on opposite sides) and/or positioned around the perimeter or circumference of a lower portion of the arm  300  (proximate near where the central unit  400  is attached, mounted, connected or otherwise coupled to the arm). The arm  300  can include one or more attachments or fasteners  402 ,  404 , and  406 , which can be positioned around the perimeter or circumference of the arm as illustrated. Fastener  402  can be positioned in the middle (for example, in line or substantially in line with a center of the central unit  400 ). Fasteners  404  and  406  can be positioned on the sides. The column  200  can include one or more attachments or fasteners  202 ,  204 ,  206 , and  208 , which can be positioned on opposite sides (or otherwise spaced apart, for example, equally spaced apart) around the perimeter or circumference of the column as illustrated. As described herein, the one or more attachments can be configured to facilitate attachment (such as, removable attachment) of one or more sterile barriers, such as drapes, to cover (or enclose) the one or more components of the patient cart  104 . For example, any of the fasteners can include a magnetic material for removably attaching or affixing a sterile barrier, such as a drape. Attachment may be formed when an attachment portion of the drape that includes a ferromagnetic material is brought into proximity of or into contact with a fastener. Any of the fasteners of the robotic surgery system components and/or sterile barriers can be circular, rectangular, square, or the like. In some cases, one or more of the fasteners may be three-dimensionally shaped in addition to having a shape. In some cases, the attachment portion of the drape that includes the ferromagnetic material may be three-dimensionally shaped. In some cases, there may be more or less fasteners positioned on the one or more of components  400 ,  300 , and  200  than illustrated in  FIGS. 1B-1C . In some cases, one or more fasteners can be positioned in different locations. In some cases, one or more fasteners can be positioned on or adjacent to the surface of the robotic surgery system component. 
       FIG. 1D  illustrates the instrument insertion and visualization device  108 . The instrument insertion and visualization device  108  can include an insertion device  210  and a visualization device  220 . The insertion device  210  can include a housing  212  and a plurality of passages, lumens, or channels  214  for inserting and guiding one or more instruments or cameras. The plurality of channels  214  can be enclosed in another housing as illustrated in  FIG. 1D . The two housings can be connected as shown. The plurality of channels  214  can also permit insertion of a primary camera  224 . The primary camera be an endoscope or endoscopic camera. A distal end  224 B of the primary camera  224  can extend beyond the housing including the plurality of channels  214 . At least a portion of the distal end  224 B can be positioned near or in the site of interest (such as, to provide image data of the site of interest). One or more cameras (such as, imaging components, including one or more lenses) can be positioned at the distal end  224 B. The primary camera  224  can also include a proximal end  224 A. 
     The visualization device  220  can include a housing  222  to which the proximal end  224 A of the primary camera can be attached (removably or non-removably). The housing  222  can include an opening in which one or more sterile drivers, such as at least one of  232 A or  232 B (individually or collectively referred to as  232 ), can be positioned. The one or more drivers  232  can contact or grip the primary camera  224  and move the primary camera through the opening in the housing  222  and a channel of the plurality of channels  214  so that the distal end  224 B extends away from one or more of the housings  212  or  222  or retracts back toward or into one or more of the housings  212  or  222 . A camera tube  225  of the primary camera  224  can form a loop around at least a portion of the housing  222 . The diameter of the loop can be increased when the distal end  224 B is retracted toward or into one or more of the housings  212  or  222  and be decreased when the distal end  224 B is extended away from one or more of the housings  212  or  222 . In some cases, the visualization device  220  may be coupled to another part of the insertion device  210 . In some cases, the visualization device may not be coupled to the insertion device  210  and instead be coupled to another part of the central unit  400 . In some cases, the primary camera  224  may not include a loop and instead be linearly inserted into and through the insertion device  210  but otherwise have a distal end  224 B of the primary camera  224  function as described above. 
     At least a portion of the primary camera tube  225  can be flexible or substantially flexible in order to form the loop and/or be guided through the one or more openings and/or channels as described herein. In some cases, at least a portion of the primary camera tube  225  can be flexible or substantially flexible in order to facilitate manipulation of the primary camera at the site of interest, for example, to provide the operator with the desired camera view. In some cases, looping the camera  224  upward around at least the portion of the housing  222  as described can permit the primary camera to have sufficient length for reaching near and/or into the site of interest, while eliminating or reducing the risk of the primary camera  224  (or at least desired portion thereof) coming into contact with non-sterile object, such as the floor or a portion of the system  1000  not covered or protected by a sterile barrier. 
     One or more cables  240  can be used to transmit control signals and data, such as analog or digital image data provided by the one or more cameras positioned at the distal end  224 B or in the insertion device  210 , to the patient cart  104  and/or the workstation  102 . In some cases, transmission can be wireless and one or more cables  240  may not be present. 
     The insertion device  210  can include one or more instrument channels for positioning one or more surgical instruments. The one or more instruments can be loaded (into the instrument channels) through one or more openings  340  formed in the rear of the housing  212  of the insertion device  210 . In some cases, one or more secondary cameras can be integrated in the insertion device  210  or be removably positioned in the insertion device. 
     In operation, the insertion device  210  and visualization device  220  can be attached to each other. For instance, the housings  220  and  210  can be attached to each other. Attachment can be removable and can facilitate insertion into and movement of the primary camera  224  (such as, the distal end  224 B) through the housings  220  and  210  and the channel of the plurality of channels  214 . In some cases, the insertion device  210  can be attached to a first portion of the central unit  400  while the visualization device  220  can be attached to a second portion of the central unit, facilitating the entry of the primary camera  224  into and through the insertion device from a range of angle/orientations. 
       FIGS. 1A-1D  illustrate an example of a robotic surgery system and its components, and certain elements may be removed, other elements added, two or more elements combined, or one element can be separated into multiple elements depending on the specification and requirements of the robotic surgery system. 
     Additional details of the robotic surgery system  1000  and its components, including one or more insertion devices, visualization devices, or cameras, are described in U.S. patent application Ser. No. 16/156,651 filed on Oct. 10, 2018, Ser. No. 16/156,625 filed on Oct. 10, 2018, Ser. No. 16/174,646, filed on Oct. 30, 2018, Ser. No. 16/299,834, filed on Mar. 12, 2019, Ser. No. 16/419,743 filed on May 22, 2019, and Ser. No. 16/419,696 filed on May 22, 2019, the entire disclose of each of which is incorporated by reference and should be considered part of this specification. 
     Overview of Sterile Barrier 
     To establish and maintain sterility of one or more components of a robotic surgery system, such as the system  1000 , one or more sterile barriers, such as drapes, can be utilized. Such approach can be more practical, efficient and/or effective to sterilizing the one or more components of the robotic surgery system, such as sterilizing external surfaces and/or other parts of the one or more components. Attaching or positioning of such barriers on the one or more components of the robotic surgery system is illustrated in  FIGS. 2A-2G . As is illustrated, one or more sterile barriers can be removably attached or positioned to cover one or more components of the patient cart  104 , which can be positioned at least partially in the sterile field. 
     Sterile barriers can help to mitigate the risk of a sterile object or sterile personnel (such as, sterile nurse, surgeon, or the like) coming into contact with a non-sterile surface or object. Sterile barriers can additionally or alternatively protect components of the robotic surgery system from coming into contact with fluids or tissue during the medical procedure. 
       FIG. 2A  illustrates an interface  500  of the central unit  400 . The interface  500  (which can be referred to as a mounting interface) can be configured to support an instrument insertion and visualization device  108 , which can include the insertion device  210  and the visualization device  220 . The insertion device  210  can include the plurality of channels  214  for facilitating positioning adjacent to or in the site of interest of one or more surgical instruments and one or more cameras (including, the primary camera  224 ). The visualization device  220  can facilitate positioning of the primary camera  224  adjacent to or in the site of interest. In some cases, the primary camera  224  can be of length selected to allow at least the distal portion  224 B of the primary camera to be advanced toward or into the site of interest and retracted away from the site of interest (such as, toward or into a cannel of the visualization device  220 ). As described herein, the primary camera  224  can include the camera tube  225 , a flexible or substantially flexible portion, that forms a loop around a portion of the visualization device  220 , such as the housing  222 . The looped portion of the primary camera can be shortened when the primary camera is advanced and lengthened when the primary camera is retracted. 
     The mounting interface can include an opening or slit  504  for receiving the looped portion of the primary camera. The interface  500  can include one or more posts or pins  510  configured to actuate one or more drivers  232  for advancing the primary camera  224  toward or into the site of interest and/or retracting the primary camera. The interface  500  can include a sterile cover  550  that can be attached to cover one or more additional posts or pins of the mounting interface  500 . The one or more pins can be configured to support one or more of the insertion or visualization devices. 
     One or more drivers  232  and cover  550  can be sterile and form part of a sterile barrier for the central unit  400 . A sterile barrier may need to be provided between the mounting interface  500  of a non-sterile surface of the central unit  400  and one or more of a sterile insertion or sterile visualization devices, which can be removably attached to or mounted on the interface  500 . The insertion and visualization devices  210  and  220  may be required to be sterile (for example, to maintain sterility of one or more surgical instruments and/or cameras mounted to or positioned in the insertion and visualization devices) in order to protect the site of interest from infection. It can be advantageous to provide a sterile barrier for non-sterile portions of the central unit  400  that may come into contact with the insertion and visualization devices. For example, the primary camera  224  can be advanced or retracted by the one or more sterile drivers  232 , which can rotate to advance or retract the camera, as described in more detail in U.S. patent application Ser. No. 16/156,651 filed on Oct. 10, 2018 and Ser. No. 16/156,625 filed on Oct. 10, 2018. As described herein, sterility of the looped portion of the primary camera positioned in the slit  504  can be maintained with a sterile insert (for example, insert  640 ) positioned in the slit  504 . The sterile cover  550  can advantageously maintain sterility of the one or more of insertion or visualization devices mounted to the one or more pins covered by the cover  550 . 
       FIG. 2B  illustrates covering (such as, enclosing) the central unit  400  with a sterile barrier  650 , which can include a drape  600  and a drape coupler  610 .  FIG. 2C  illustrates covering (such as, enclosing) a portion or part of the arm  300  with a sterile barrier, such as a sterile drape  700 . As described herein, the drape  700  can overlap a portion of the drape  600  of the sterile barrier  650 . In some cases, a portion of the drape  700  can attach, connect or otherwise couple to a portion of the drape  600  by the use of one or more of any of the fasteners described herein. 
     After (or in some cases before) covering the central unit  400  with the sterile drape  600 , one or more of the insertion or visualization devices  210  and  220  can be attached to the central unit, such as mounted on the mounting interface  500 . As illustrated in  FIG. 2D , the visualization device  220  can be mounted to the mounting interface  500 . As shown, the visualization device  220  can be positioned on the one or more pins  510  covered by the one or more drivers  232  and the one or more pins covered by the cover  500  (such as, the top two pins) to maintain sterility of the visualization device (and the primary camera attached to the visualization device). After (or in some cases before) the visualization device  220  has been mounted to the mounting interface  500 , the insertion device  210  can be mounted to the mounting interfaces, as illustrated in  FIG. 2E . The insertion device  210  can be mounted on the one or more pins covered by the cover  500  (such as, the bottom two pins). 
     As shown in  FIG. 2F , bottom surface  410  of the central unit  400  can include one or more instrument interfaces  420  configured to support and actuate one or more surgical instruments (as illustrated, for example, in  FIG. 4E ). Each instrument interface  420  can include a plurality of actuators  422  configured to interface (for example, mate with) with a plurality of actuators of a surgical instrument attached to the instrument interface (for instance, the actuators  322  of the surgical instrument illustrated in  FIGS. 4G-4H ). For example, the protrusion of the actuator  422  can interface with (such as mate with) the opening in an actuator  322  of the surgical instrument (sometimes referred to as surgical instrument actuator). Movement of the actuators  422 , such as movement left and down (or up and down, or otherwise from one point to another point), can cause corresponding movement of the actuators of the surgical instrument. This can cause an end effector portion of the instrument (which can be located at the distal end of the instrument) to articulate or move (for example, in three dimensions), change orientation (for example, in three dimensions including rotation), and/or actuate or perform a function (such as, open or close a jaw of a grasper) as needed for performing the medical procedure. 
     To maintain sterility of the one or more surgical instruments, one or more sterile interfaces  680  (sometimes referred to as covers, interfaces, shields, or adapters) can be attached to or positioned on the instrument interfaces  420  that may not be sterile (for example, due to particular difficulty of sterilizing the plurality of actuators  422 ). As described herein, one or more sterile adapters  680  can be removably attached to the instrument interfaces  420 , and an instrument can be placed or positioned in contact with the sterile adapter(s)  680  when mounted on the instrument interfaces  420 . For example, when a single sterile adapter  680  is used to attach to the instrument interfaces  420 , the sterile adapter can be configured to (for example, sized and shaped) to coincide or substantially coincide with the size and shape of the instrument interfaces  420 . Sterile adapter  680  can have the same or substantially similar length and width as the instrument interface  420 . 
     With reference to  FIGS. 4A and 4D , the sterile adapter  680  can include a plurality of actuator covers  622  corresponding in size and shape to the plurality of actuators  422 . The plurality of actuators  422  can be covered by the actuator covers  622  (for example, enclosed by or received in the actuator covers  622 ). Actuators covers  622  are also illustrated in  FIG. 8N  (which illustrates the adapter  680  in a perspective bottom view). 
     Although the actuators  422  are illustrated as protrusions (such as, a male connector), in some cases, one or more actuators  422  can include an opening or slot (such as, a female connector) configured to (for example, sized and shaped) to receive a protrusion of a corresponding surgical instrument actuator. In such cases, one or more actuator covers  622  can be configured to (for example, sized and shaped) to correspond to the size and shape of the actuators  422 . Additional details of mounting and actuating a surgical instrument are disclosed in U.S. Pat. No. 9,629,688, the entire disclosure of which is incorporated by reference and should be considered part of this specification. 
       FIG. 2G  illustrates covering a portion (or entirety) of the column  200  with a sterile barrier, illustrated as a drape  800 . The drape  800  can facilitate maintaining sterility of sterile barrier of the central unit  400  (such as, the drapes  600  and  700 ) in case the central unit  400  is moved to come into contact with the column  200  (or another sterile object or person comes into contact with the column  200 ). As described herein, the drape  800  can be removably attached to the column  200  in one or more different positions or orientations. This can facilitate protecting the column  200  from coming into contact with blood, fluids, tissue, or the like during the medical procedure. 
     Sterile Barrier for Central Unit 
       FIG. 3A  illustrates the sterile barrier  650  for the central unit. The sterile barrier  650  can include the drape  600  and the drape coupler  610  (which can be sometimes be referred to as tray). Both the drape  600  and the drape coupler  610  can be sterile. As described herein, the drape coupler  610  can be removably attached to at least one surface, for example the bottom surface  410 , of the central unit  400 . The drape coupler  610  can be configured to (for example, sized and shaped) to match the size and shape of the bottom surface  410  of the central unit  400 . The drape coupler  610  can be rigid or substantially rigid. The drape coupler  610  can include one or more rigid or substantially rigid materials, such as plastic, metal, or the like. 
     The drape  600  can be flexible or substantially flexible. The drape can include one or more flexible or substantially flexible materials, such as polyethylene (PE) (for example, low density polyethylene), polyurethane (PU), polyvinyl chloride (PVC), or the like. Although shown as separate components in  FIG. 3A , the drape coupler  610  and the drape  600  can be attached to, or otherwise integrated with, each other. For example, the drape  600  can be attached to the drape coupler  610  along a perimeter of the drape coupler. With reference to  FIG. 3B , in some cases, the drape  600  can be attached along a perimeter outlined by  612 . For instance, the drape  600  can be adhered to portions of the drape coupler  610  that are positioned between the edges and the perimeter outlined by  612 . The drape coupler  610  can facilitate covering (for instance, enclosing) the central unit  400  with the drape  600  due to, for example, preventing the drape (which can be flexible) from collapsing, keeping the drape in a position around the perimeter of the central unit, or the like (see, for example,  FIGS. 8B and 8C ). 
     The cover  550  illustrated in  FIG. 3A  can be integrated into the sterile barrier  650 . For example, the cover  550  can be attached to the drape  600 , such as in the region  606  (see also  FIG. 3D ). For instance, the cover  550  can be attached through the openings or holes illustrated in the region  606  (such as, four holes). This is shown in  FIGS. 3E-3F , which illustrate the sterile barrier  650  in a perspective front view and perspective bottom view, respectively. The attachment can be by adhesive, heat sealing, or the like. 
     An insert  640  (which can be sometimes be referred to as shell) can be positioned in the slit  504  of the central unit  400 . The insert  640  can be have concave shape matching in size and shape the slit  504 . The insert  640  can have side surfaces connected at one end (such as, at the bottom) and not connected at the opposite end (such as, at the top) to form an opening. As described herein, the looped portion of the primary camera tube  225  can be positioned in the slit  504 . The slit  504  can be covered by the insert  640 , and the looped portion of the primary camera tube  225  can be positioned in the insert  640 . The insert  640  can be rigid or substantially rigid, which can facilitate the insert remaining inside the slit  504 . The insert can include one or more materials that are more rigid than the one or more materials of the drape. For example, the insert  640  can include one or more of plastic materials, such as high-density polyethylene (HDPE), acrylonitrile butadiene styrene (ABS), metal, or the like. 
     The insert  640  can be integrated into the sterile barrier  650 . For example, as illustrated in  FIGS. 3E-3F , the insert  640  can be attached to the drape  600 , such as in the region  604  (see also  FIG. 3D ). The attachment can be by adhesive, heat sealing, or the like. 
     The cover  550  can include one or more rigid or substantially rigid materials, such as any of the materials described herein. For example, the cover  550  can include one or more plastic materials. The one or more materials of the cover  550  can be more rigid than the one or more materials of the insert  640 . This can be due to the cover  550  providing support for the insertion device  210  and/or visualization device  220 , and the insert  640  being substantially flexible to facilitate insertion into the slit  504 . 
       FIG. 3B  illustrates the drape coupler  610  as viewed from the side that is configured to face the bottom surface  410  of the central unit  400  (for example, inner facing side or upper surface of the tray illustrated in  FIG. 3A ). The drape coupler  610  can include one or more attachments or fasteners  614  configured to facilitate mounting of the drape coupler  610  to the bottom surface  410  of the central unit  400 . The drape coupler  610  can be removably mounted to the bottom surface  410 . In some cases, the fasteners  614  can include metal (or another ferromagnetic material) for attachment to the one or more attachments or fasteners positioned on the bottom surface  410  (which can be similar to one or more of fasteners illustrated in  FIGS. 1B-1C ). For instance, the fasteners  614  can be metal washers, and the one or more fasteners positioned on the bottom surface  410  can include magnetic material. The bottom surface  410  can include the same number of fasteners as on the drape coupler  610  (for example, four) to help facilitate the correct alignment between the drape coupler and the bottom surface of the central unit  400 . 
     Instrument interfaces  420  of the central unit  400  (and attached surgical instrument(s)) can be configured to move (such as, linearly) toward and away from the site of interest (such as, the surgical site). For example, after a surgical instrument is mounted to the respective instrument interface  420  (using, for instance, a sterile adapter  680 ), the instrument may need to be advanced forward into the surgical site. To accomplish such movement, the instrument interface  420  can slide forward along one or more grooves on the bottom surface  410  (see, for example,  FIG. 2F ), which can cause the surgical instrument to correspondingly advance forward. When the surgical instrument may need to be repositioned or removed, the surgical instrument may need to be retracted away from the surgical site. To accomplish such movement, the instrument interface  420  can slide backward along the one or more groves (such as, into position illustrated, for example, in  FIG. 2F ), which can cause the surgical instrument to correspondingly retract away from the surgical site. 
     As shown in  FIG. 3B , the drape coupler  610  can include one or more openings (sometimes referred to as windows) to expose the one or more instrument interfaces  420  of the central unit  400 . The openings, which are also illustrated as  624 A and  624 B in  FIG. 3C , can be moveable to facilitate movement of the one or more instrument interfaces  420  as described herein. To maintain sterility of the one or more surgical instruments (such as, preventing any part of a surgical instrument from coming into contact with the non-sterile bottom surface  410  of the central unit  400 ), the openings can include fixtures or frames  616 A and  616 B, which can slide forward and backward within slots or grooves of the drape coupler  610 . The frames  616 A and  616 B can be rigid or substantially rigid. The frames can include rigid or substantially rigid material, which can include any one or more of rigid or substantially rigid materials described herein. The groves for facilitating movement of the frames  616 A and  616 B can be formed, for example, by a structure  608  (illustrated in  FIG. 3C  as a frame) positioned on the opposite side of the drape coupler  610  than that in  FIG. 3B . The frame  608  can include any one or more of rigid or substantially rigid materials described herein. The groves can be formed between the frame  608  and another frame positioned on the inner facing side of the tray  610  shown in  FIG. 3B . Another frame can be rigid (for instance, include any one or more of rigid or substantially rigid materials described herein). 
     One or more of the windows ( 624 A and  624 B) or the frames ( 616 A and  616 B) can be configured to (for example, sized and shaped) to match the size and shape of the instrument interfaces  420 . The windows can have the same of substantially similar length and width as the corresponding instrument interfaces  420 . 
     The frames  616 A and  616 B can be attached to or connected to one or more flexible or substantially flexible regions or sections  620 A and  620 B, which can include any of the flexible or substantially flexible materials described herein. The flexible sections can collapse and/or expand when the openings are moved, for example, forward and/or backward. This can facilitate maintenance of the sterile barrier between the central unit  400  (such as, its bottom surface  410 ) and one or more surgical instruments. As illustrated in  FIG. 3C , similar flexible sections (such as, section  621 B) can be positioned and connected to the top of the frames  616 A and  616 B. In  FIG. 3B , bottom flexible sections  620 A and  620 B are shown in an expanded position or configuration (such as, fully expanded configuration), while top sections are shown in a collapsed position or configuration (such as, fully collapsed configuration). Location (or position) of the openings shown in  FIG. 3B  can correspond to a default location for mounting the drape coupler  610  to the bottom surface  410  of the central unit  400 . This location can correspond to default (or docked) position or location of the instrument interfaces  420  (such as, when the robotic surgery system is being prepared for the medical procedure). The openings, which are moveable, can be maintained in the default location by one or more removable fasteners attached, for example, to edges of the frames  616 A and  616 B and one or more surrounding surfaces of the drape coupler  610 . For instance, adhesive tear tabs can be used as fasteners. 
     Bottom flexible sections  620 A and  620 B (and similar top sections) can include one or more dividers or inserts  618 A and  618 B, as shown. Such inserts can be rigid or substantially rigid. The inserts can include one or more materials that are more rigid than the one or more materials of the sections  620 A and  620 B, such as any of the rigid or substantially rigid materials described herein. The inserts  618 A and  618 B can facilitate expansion and collapse of the flexible sections  620 A and  620 B, respectively. The inserts  618 A and  618 B can be configured to allow one or more flexible portions of the sections  620 A and  620 B, respectively, to wrap around, fold or be received overlapping a respective section, when the sections  620 A and  620 B are being collapsed. One or more flexible portions of the sections  620 A and  620 B can wrap around or fold onto the respective insert  618 A and  618 B. As illustrated in  FIG. 3C , the insert  618 A can be tapered. For example, the insert  618 A include one or more tapered sides or edges  623 A. The insert  619 B can be tapered. For example, the insert  619 B can include one or more tapered sides or edges  625 B. The sides or edges can be tapered toward the one or more flexible portions of the respective section  620 A and  620 B. Tapered shape of the one or more inserts  618 A and  619 B can facilitate wrapping or folding of the flexible material of the sections  620 A and  620 B, respectively, or facilitate respective sections overlapping one another, as the sections are being collapsed. For instance, tapered shaped can facilitate the flexible material edges to be lifted (or scooped up) and folded as the one or more sections  620 A and  620 B are being collapsed. 
       FIG. 3C  illustrates the tray  610  viewed from the side opposite than that shown in  FIG. 3B , such as from the outer facing side (or surface) of the tray. In  FIG. 3C , the left opening  624 A is illustrated in the same location as in  FIG. 3B , while the right opening  624 B is illustrated in a different location. The right opening  624 B is illustrated as being moved down (which can correspond to forward movement of the right instrument interface  420  and mounted surgical instrument, causing the surgical instrument to move towards the site of interest). Bottom flexible section  620 B on the right is illustrated in the collapsed configuration (such as, fully collapsed configuration). Top flexible section  621 B is illustrated in the expanded configuration (such as, fully expanded configuration). The flexible section  621 B can include an insert  619 B, which can be similar to the inserts  618 A and  618 B described herein. A flexible section similar to  621 B can be positioned adjacent to top portion of the left window  624 A. This flexible section is shown in the collapsed configuration (such as, fully collapsed configuration). 
     In some cases, when a particular flexible section is in a fully collapsed configuration, the opening is positioned at a maximum distance in which it is configured to move in that direction. For example,  FIG. 3B  illustrates the openings retracted to a maximum distance. As another example,  FIG. 3C  illustrates the opening  624 B moved forward to a maximum distance. The maximum distances associated with movement of the openings  624 A and  624 B can correspond to range of movement of the instrument interfaces  420 . 
     Although the illustrated central unit  400  and sterile barrier  650  are configured to facilitate attachment of two surgical instruments to the central unit, the central unit  400  and sterile barrier  650  can be configured to facilitate attachment of a single surgical instrument or more than two surgical instruments. 
     Any of the one or more windows ( 624 A and  624 B) can be covered by a cover (sometimes referred to as protector). The protector can be removable. For example, the protector can be attached or affixed to a bottom surface of the drape coupler  610  (see  FIG. 3F ). With reference to  FIG. 3A , the protector  655  can be attached as shown. The protector  655  can cover the entire (or substantially entire) bottom surface of the drape coupler  610  or a portion of the surface. The protector can be attached, for instance, with adhesive. In some cases, the protector can include one or more sections that are independently removable. For example, the protector can include two sections covering the windows  624 A and  624 B. 
       FIG. 3D  illustrates the drape  600  in an unfolded configuration. The drape  600  is illustrated as being detached from the drape coupler  610 . As described herein, the drape  600  can be attached to the drape coupler  610 , and in folded configuration to form an enclosure configured (for example, sized and shaped) to enclose the central unit  400  (see, for example,  FIG. 3A ). One or more dimension of the drape  600  can correspond to (or be greater than) the one or more dimensions of the central unit  400 . 
     The drape  600  can include one or more compartments (sometimes referred to as a pouches or pockets) illustrated as  672 ,  674 ,  676 , and  678 . An outer surface of the drape  600  (sometimes referred to as an outer side, outer facing surface, or outer facing side) can be configured to remain sterile during the medical procedure. The opposite inner side of the drape  600  (sometimes referred to as an inner side, inner facing surface, or inner facing side) can come into contact with one or more non-sterile surfaces of the central unit  400 , and therefore may not remain sterile (even though the entire sterile barrier  650  may be sterile when packaged). The pockets can help maintain sterility of the outer surface of the drape  600  when a user, such as sterile nurse (for example, scrub nurse), covers the central unit  400  with the drape  600 . For example, the pockets can prevent the user&#39;s hand from touching any non-sterile surface when the drape is being attached or affixed to the central unit  400 . Any of the pockets described herein can facilitate maintaining sterility of a sterile barrier being attached to cover a component of the robotic surgery system. 
     Any of the pockets can be configured (such as, sized and shaped) to at least partially enclose the user&#39;s hand or part of the user&#39;s hand (such as, a finger or multiple fingers). One or more of the pockets  672 ,  674 ,  676 , and  678  can be positioned on an outer surface of the drape  600  (or, in some cases, on the inner facing surface of the drape). Any of the pockets described herein can be formed by attaching a flexible or substantially flexible material to the drape, such as by heat sealing, adhering, or the like, or by causing a portion of the drape material to be folded and then heat sealing certain portions to form one or more pockets, with regions of the folded drape not requiring a pocket or enclosure being optionally removed. The material attached to the drape can be the same or similar to the one or more materials of the drape, which can be any of the flexible materials described herein. One or more of the pockets  672 ,  674 ,  676 , and  678  can be configured to enclose a user&#39;s hand. 
     The pockets can be labeled, for example, with labels  666 ,  667 ,  668 , and  669 , respectively. Any of the labels can include an indication (or indicia) of which hand (left or right) or portion of the hand should be inserted into the pocket. For example, as illustrated in  FIG. 7B , label  910  can guide the user to insert the right hand into the pocket and label  912  can guide the user to insert the left hand into the pocket. The hand shape in label  910  corresponds to the shape of the right hand (with the thumb being on the left side when palm of the right hand faces the page). The hand shape in label  912  corresponds to the shape of the left hand (with the thumb being on the right side when palm of the left hand faces the page). Any of the labels can additionally or alternatively guide the user in which direction to insert a particular hand. With reference to  FIG. 7B , label  912  can guide the user to insert the right hand with the palm facing the central unit  400 , as this orientation of the right hand would match the outline of the right hand depicted in the label (such as, when the label is attached to the interior front or rear surface of the pocket, which can be positioned on the outer facing surface of the drape). Similarly, label  912  can guide the user to insert the left hand with the palm facing the central unit  400 , as this orientation of the left hand would match the outline of the left hand depicted in the label (such as, when the label is attached to the rear surface of the pocket). Any of the labels described herein can be attached to the interior or exterior surfaces of the pocket and/or other surfaces of the drape. 
     In some cases, labels  666  and  667  can guide the user to insert the right hand, and labels  668  and  669  can guide the user to insert the left hand. The pockets can be paired depending on a step of the process for covering the central unit  400  with the drape  600 . When two pockets are paired, the user may insert right and left hands into respective pockets of the pair to perform the particular step. The labels can provide indication of the pairing. For example, as illustrated in  FIG. 7C , labels  920  (right hand) and  922  (left hand) include the number “1” indicating pairing of the two labels. Indication of the pairing may also correspond to the order of the process. For example, the number “1” can indicate an earlier (such as, first step) in the process than one or more labels with subsequent numbers, such as “2,” “3,” or the like. In some cases, letters, images, or the like can be used instead of or in addition to the numbers. 
     The drape  600  can include one or more attachments or fasteners  652  and  662 . Fastener  652  can be positioned in a region of the drape covered by (or overlaps with) the pocket  672 . Fastener  662  can be positioned in a region of the drape covered by the pocket  678 . As described herein, one or more of the fasteners  652  and  662  can include ferromagnetic material, such as a metal washer, configured to be attached to an attachment or fastener of the central unit, such as one or more of fasteners  302  and  304  (for example, by being brought into contact or into proximity of the one or more fasteners  302  and  304 ). Any of the fasteners  652  and  662  can be positioned on or adjacent to the inner facing surface of the drape  600 , which is configured to come into contact with the central unit  400 . 
     In some cases, pockets  672  and  678  can be paired. For example, labels  666  and  669  associated with the pockets  652  and  662 , respectively, can correspond to labels  920  and  922  illustrated in  FIG. 7C . As shown in  FIGS. 8B-8D , the user can be guided to insert the right hand into the pocket  672  and left hand into the pocket  678  (or vice versa). The drape  600  can subsequently be lifted and attached to the central unit  400  (for example, by forming a magnetic attachment between the fasteners  652  and  662  and fasteners  302  and  304 ). The pockets  672  and  678  can facilitate maintaining sterility of the outer facing surface of the drape  600  when the drape is being attached to the central unit  400 . When the drape  600  is in the folded configuration as illustrated in  FIG. 3A , the pockets  672  and  678  can be positioned adjacent to each other (see, for example,  FIGS. 8B-8D ). 
     The drape  600  can include attachments or fasteners  654 ,  656 ,  658 , and  660 , which may not be attached to the central unit  400 . The drape can include fasteners similar to the fasteners  654 ,  656 ,  658 , and  660  positioned in the same or similar region as the previously described fasteners  652  and  662  (which, as described herein, can be attached to fasteners of the central unit  400 ). For example, the fasteners  652  and  662  can be positioned on or adjacent to the inner facing surface of the drape, while the other fasteners can be positioned on or adjacent to the opposite exterior facing surface of the drape (such as, on an exterior surface of the pockets  672  and  678 ). Because regions illustrated as  652  and  662  can include multiple fasteners, for simplicity, the fasteners positioned in the same or similar region as the previously described fasteners  652  and  662  can be referred to as second fasteners  652  and  662 . Fasteners  654 ,  656 ,  658 , and  660  as well as the second fasteners  652  and  662  can facilitate covering (such as, enclosing) the central unit with the drape  600  and maintaining the drape in the desired position during the medical procedure. These fasteners can be attached (or connected) to one another as described herein. Any of these fasteners can provide removable attachment and can include one or more of a hook-and-loop fastener (for example, a VELCRO® Brand fastener), adhesive fastener, button fastener, magnetic fastener, zippers, or the like. 
     Second fasteners  652  and  662  can be positioned in regions of the drape covered by pockets  672  and  678 , respectively. As described herein, second fasteners  652  and  662  can be paired (or configured for being attached to), for instance, to fasteners  656  and  658 , respectively. Second fasteners  652  and  662  can be removably attached of affixed to fasteners  656  and  658 , respectively. In some cases, second fasteners  652  and  662  can be VELCRO fasteners. 
     In some cases, pockets  674  and  676  can be paired. For example, labels  668  and  667  associated with the pockets  674  and  676 , respectively, can correspond to labels  922  and  920  illustrated in  FIG. 7C  (with the exception of replacing the number “1” in both labels with, for instance, the number “2” indicating a step subsequent to that indicated by the number “1”). The user can be guided to insert the right hand into the pocket  676  and left hand into the pocket  674  (or vice versa). Fastener  656  can be positioned in a region of the drape  600  covered by the pocket  674 . Fastener  658  can be positioned in a region of the drape  600  covered by the pocket  676 . Fastener  656  can be paired with or connected to the second fastener  652 . Fastener  658  can be paired with or connected to the second fastener  662 . As illustrated in  FIGS. 8E-8F , fastener  656  can be removably attached to the second fastener  652 , and fastener  658  can be attached to the second fastener  662 . In some cases, fasteners  656  and  658  can be VELCRO fasteners. The pockets  674  and  676  can facilitate maintaining sterility of the outer facing surface of the drape  600  when the user is attaching the fasteners  656  and  658  to the second fasteners  652  and  662 , respectively. As illustrated in  FIG. 3A , the pockets  674  and  676  can be positioned adjacent to each other (see also, for example,  FIGS. 8E-8F ). The pockets  674  and  676  can be positioned opposite the pockets  672  and  678  when the drape  600  is in the folded configuration (see, for example,  FIGS. 8B-8F ). 
     The drape  600  can include fasteners  654  and  660 . These fasteners can be paired. The fasteners  654  and  660  can be attached to each other (for example, removably attached) as illustrated in  FIG. 8G . In some cases, fasteners  654  and  660  can be VELCRO fasteners. Fasteners  654  and  660  can be connected to each other to tighten the drape  600  around the central unit  400 , as illustrated in  FIG. 8G . For instance, fasteners  654  and  660  can be positioned in a portion of the drape  600  configured to cover a rear portion of the central unit  400 . One or more pockets may not be needed to attach the fasteners  654  and  660 , for example, due to a low or non-existent risk of the user touching, or otherwise coming into contact with, any non-sterile surface of the central unit  400 . For instance, there may be folds on the outer facing surface of the drape where the fasteners  654  and  660  are positioned. The user can grab or pinch the folds to connect the fasteners  654  and  660  without the risk of touching any non-sterile surfaces of the central unit  400 . 
     In  FIG. 3D , all pockets and fasteners are illustrated as being positioned near the top edge of the drape. This positioning may be appropriate because the bottom side of the drape  600  can be attached to the drape coupler  610 . As described herein, the drape coupler can be attached to the bottom surface  410  of the central unit  400 , which may obviate the need to separately attach the bottom portion of the drape  600  to the central unit  400  (and thus include one or more pockets or fasteners). In some cases, any of the pockets, fasteners, or labels can be positioned in a different location (including on a different surface) or removed. Additional pockets, fasteners, or labels fasteners can be added. 
     Sterile Adapter for Surgical Instrument Interface 
       FIGS. 4A-4D  illustrate the sterile adapter  680  in a front perspective view, side view, rear view, and top prospective view, respectively. The sterile adapter  680  (or multiple sterile adapters as shown in  FIG. 2F ) can be part of the sterile barrier  650  for the central unit  400 . The adapter  680  can be attached to the instrument interface  420  and provide a sterile barrier between the instrument interface and a surgical instrument. The illustrated adapter  680  can be a sterile barrier for a left (see “L” on the front of the adapter as shown at  683 ) instrument interface  420  of the central unit  400  (see, for example,  FIGS. 3B-3C ). The right instrument interface  420  can be covered with a similar sterile adapter. 
     The adapter  680  can include a housing configured to support the surgical instrument (see, for example,  FIGS. 4G-4H ). The adapter  680  can be removably attached to the instrument interface. As is illustrated in  FIG. 4A , a closure  690  can be configured to attach the adapter  680  (such as, the front portion of the adapter) to the instrument interface  420 . As illustrated in  FIG. 4D , the closure  690  can include a release mechanism (for example, a handle)  692 . With reference to  FIG. 8L , the closure  690  can be releasably attached to (or mate with) an opening  428  of the instrument interface  420 . As shown in  FIGS. 4B-4C and 8L , the closure  690  can include a protrusion or latch  691  configured (such as, sized and shaped) to be inserted into the opening  428  when the adapter  680  is being attached to the instrument interface  420 . The latch  691  can be positioned on the back of the closure  690  (such as, on the back of or adjacent to the handle  692 ). The handle  692  can be moved or flexed to release the latch  691 , which can cause disengagement of the latch  691  from the opening  428  in the instrument interface  420 . For example, the user can pull on the handle  692  to release the adapter  680 . In some cases, the user can push the handle  692  to release the adapter  680 . 
     The latch  691  can include a plurality of latches. Such latches can be shorter and may not extend along the entire length of the closure  690  (see  FIG. 4C ). For example, two latches can be positioned on opposite sides of the closure  690 . As another example, three latches can be positioned as follows: two on the opposite sides of the closure  690  and one in the middle of the closure  690 . In some cases, there can be other combination and/or positioning of the latches. 
     As illustrated in  FIGS. 4B-4D , the adapter  680  can include one or more protrusions  682  (sometimes referred to as tabs or hooks) positioned on the opposite side (such as, a rear side) of the adapter  680  from the closure  690 . The protrusions  682  can be configured to attach (such as, removably attach) the rear portion of the adapter  680  to the instrument interface  420 . With reference to  FIGS. 8K-8L , the protrusions  682  can be connected to the holes or openings  426  positioned in the rear portion of the instrument interface  420  (such as, in the direction illustrated by the arrows in  FIG. 8K ). The protrusions  682  can be shaped as hooks configured to attach to corresponding openings  426 , as shown by the arrows in  FIG. 8K . The protrusions  682  can make contact with (such as, hook onto) the surface of the openings  426  (such as, edges of the openings). Such attachment can be removable as the moving the adapter  680  down (such as, at an angle) can release the back portion of the adapter.  FIG. 8M  illustrates the adapter  680  affixed or attached to the instrument interface  420 . 
     With reference to  FIGS. 4D and 8K-8M , one or more protrusions or plates  689  on the sides of the adapter  680  can facilitate one or more of attachment to, removal from, and support of the adapter by the instrument interface  420 . The plates  689  can contact side portions of the instrument interface  420  as illustrated in  FIG. 8M . 
     As described herein, the adapter  680  can include a plurality of actuator covers  622  (see, for example,  FIG. 4D ) configured to receive a plurality of actuators  422  of the central unit  400 . The actuator covers  622  can provide a sterile interface between the actuators  422  of the instrument interface  420  and the actuators of the surgical instrument, such as actuators  322  of a surgical instrument, such as the instrument  364  illustrated in  FIG. 4F . Movement of the actuators  422  can be transferred through the actuator covers  622 , which can be configured to move with the actuators  422  (for instance, left and right), to the actuators  322  of the surgical instrument. This can cause the end effector portion of the instrument, such as the end effector  366  of the instrument  364  illustrated in  FIG. 4F , to articulate or move. 
     It may be advantageous to facilitate removal of the surgical instrument(s)  364  from the site of interest in case of malfunction of the robotic surgery system (or any of its components), loss of power, emergency, or the like. The actuator covers  622  are illustrated in  FIGS. 4A-4D  as being positioned or aligned (such as, centrally aligned), which can correspond to the default position or alignment of the actuators  422  (such as, for loading the surgical instrument; see, for example,  FIG. 8L ). During the performing of the medical procedure, the actuators  422  (and actuator covers  622 ), which can be configured to move independently of one another, may no longer be in the default (aligned) position due to manipulation of the end effector portion of the surgical instrument. Because of the misalignment, it may not be possible to remove the surgical instrument by simply pulling out the instrument from the sterile adapter  680 . The sterile adapter  680  can be configured to allow the surgical instrument to be removed when the robotic surgery system is in use by rotating the surgical instrument to disengage the actuators  322  of the surgical instrument from the actuators  422  covered by the actuator covers  622 . Such design can promote safety, simplicity, and efficiency, among other advantages. 
     With reference to  FIGS. 4A and 4B , the adapter  680  can include a groove or guide  684  (sometimes referred to as a slot) configured (such as, sized and shaped) to receive a housing of a surgical instrument (see, for example,  FIGS. 4F-4H ). The guide  684  can be of a width  686  that matches the width of the surgical instrument housing (for example, housing  365 , which is shaped as a rectangular cassette, as shown in  FIGS. 4F-4H ). The guide  684  can facilitate loading (or removal) of the surgical instrument housing. The guide  684  can include a protrusion  687  (such as, a rib or rail) configured (such as, sized and shaped) to guide the surgical instrument housing into the adapter  680 . The surgical instrument housing can include an opening or groove, such as, the groove  370  illustrated in  FIG. 4G , configured to receive the protrusion. The groove can be positioned on the side of the housing of the surgical instrument (such as, the left side for the left instrument, as illustrated in  FIG. 4F ). 
     The guide  684  can be configured to guide the surgical instrument housing into the adapter  680 . As illustrated in  FIG. 4A , the guide  684  can be oriented at an angle relative to the horizontal plane, in which the actuators  422  and actuator covers  622  can be oriented. The plane of the guide  684  can be tilted relative to the plane of the actuator covers  622 . This can facilitate loading (or removing) the surgical instrument housing at an angle. The angle can be 5 degrees (or less or more), 8 degrees, 10 degrees (or less or more), 12 degrees (or less or more), 15 degrees (or less or more), 20 degrees (or less or more), or the like. The angle can be less than 5 degrees or more than 20 degrees. When the surgical instrument is loaded through the guide  684 , the surgical instrument actuators  322  may not be engaged with (or coupled to) the actuators  422  covered by the actuators covers  622 . 
     The surgical instrument housing  365  may be rotated inside the adapter  680  in order to facilitate engagement of surgical instrument actuators  322  with the actuators  422  (covered by the actuator covers  622 ). As illustrated in  FIGS. 4A-4B , a fastener  694  (sometimes referred to as a catch) can be configured to one or more of support the housing of the surgical instrument housing and to rotate the housing within the adapter  680 . The fastener  694  can include a protrusion  695  (sometimes referred to as rib or rail) configured (such as, sized and shaped) to engage with the surgical instrument housing. For example, the rail  695  of the fastener  694  can engage with an opening or groove positioned on the side of the surgical instrument housing  365  (such as, the groove  370  illustrated in  FIG. 4F ). The rail  687  of the guide  684  and the rail  695  of the fastener  694  can be level or substantially level (see, for example,  FIG. 4B ), and the groove can be the same groove as described herein in connection with the rail  687 . 
     The fastener  694  can include (such as, be connected to) a handle or lever  696 . The user can move the lever in one or more directions, such as up and down. When the lever  696  is moved upward (for example, due to the user pushing the lever up), the fastener  694  and the rail  695  can move upward. This can cause the surgical instrument housing to rotate. For instance, the rotation can be due to the rail  695  being moved up and causing the side of the instrument on which the groove  370  is positioned to move up. In some cases, the lever  696  can be pulled down and/or to one of the sides to cause rotation of the surgical instrument housing  365 . 
     With reference to  FIG. 4G , the surgical instrument housing  365  is illustrated as being positioned in the adapter  680 , which is shown positioned upside down. Unlike normal operation, the surgical instrument housing  365  is positioned upside down in the adapter to illustrate the actuators  322 . The user can move the lever  696  down (or upward when the adapter  680  is correctly positioned), as illustrated by the arrow  442 . This can cause the surgical instrument housing  365  to be rotated in the direction of the arrows  444 . The rotation can be in clockwise direction. In some cases, the rotation can be in counterclockwise direction. Position of the rotated surgical instrument housing  365  is illustrated in  FIG. 4H  (which also shows the adapter and surgical instrument housing upside down). 
     The lever  696  can be locked into position so that the surgical instrument housing  365  remains in the rotated position, in which the surgical instrument actuators  322  are engaged with the actuators  422  (covered by the actuator covers  622 ). The lever can be locked into position (or unlocked during removal of the surgical instrument) by locking (or unlocking) a closure of the lever, such as a latch. The user can lock the lever  696  into position by, for instance, moving the lever  696  outward (or in a direction away from the adapter  680 ). Unlocking the lever  696  can be performed by moving the lever in the opposite direction. 
     With reference to  FIG. 4E , central unit  400  is shown in a rear view with surgical instruments  364  attached to the instrument interfaces  420  (or loaded). With reference to  FIG. 4F , the instrument  364  can include the surgical instrument housing  365 , a shaft  368  connected to the housing, and an end effector  366  connected to the shaft. As illustrated in  FIG. 4E , the shaft  368  and the end effector  366  can be loaded through an opening  340  formed in the rear of the housing  212  of the insertion device  210 . The surgical instrument housing  365  can be rotated (or pivoted) about an axis  440  that traverses along a center of the shaft of the surgical instrument. The axis  440  can coincide with the axis that traverses along a center of the end effector  366 . The surgical instrument housing  365  can be rotated about the axis that traverses along the center of the end effector  366 . The axis  440  can coincide with the axis that traverses along a center of the opening  340  in the insertion device  210  through which the end effector and the shaft of the surgical instrument are inserted during loading. The surgical instrument housing  365  can be rotated about the axis that traverses along (or through) the center of the opening  340 . 
     To load the surgical instrument  364 , the user can move the surgical instrument housing  365  through the guide  684  (at an angle, as described herein). With reference to  FIGS. 4B and 4F , the length  685  of the guide  684  can be shorter than the length of the surgical instrument housing  365 . Once a portion (or entirety) of the surgical instrument housing  365  passes through the guide  684 , it can engage with the rail  695 , as described herein. In some cases, the surgical instrument housing  365  can engage with the slot  688  positioned at the top of the adapter  680 , as shown in  FIG. 4A . The surgical instrument housing  365  can be supported by one or more of the rail  695  or the slot  688 . In some cases, as illustrated, the adapter  680  does not include a bottom. With reference to  FIGS. 4B and 4F , the length  685  of the portion of the adapter that is adjacent to the guide  695  can be sufficient to receive the entire surgical instrument housing  365 . The length  681  of the portion can match the length of the surgical instrument housing  365 , such as be the same, substantially the same, or larger than the length of the surgical instrument housing. Once loaded, the surgical instrument housing  365  can be rotated (and, optionally, locked) into position, in which the surgical instrument actuators  322  are engaged with the actuators  422  (covered by the actuator covers  622 ). 
     As illustrated in  FIGS. 4A-4D , the guide  684  can be positioned on or in a first side portion of the housing of the adapter  680 . The fastener  694  (and the rail  695 ) can be positioned on or in a second side portion of the housing of the adapter  680 . The first and second side portions can be positioned on the same side of the housing (for example, left side in case of an adapter for the left instrument). The first and second side portions may not be connected. For example, the first and second side portions can be separated by a gap as shown in  FIG. 4B . In some cases, the guide  684  and fastener  694  can be positioned in the same side portion. 
     In some cases, any of the actuators  422  can be tapered as illustrated in  FIGS. 8K-8L . The base (or proximal portion) of the respective actuator  422  can be wider than the end (or distal portion) of the actuator. Any of the actuator covers  622  can be similarly tapered. The tapered shape can facilitate engagement with the surgical instrument actuators  322  as the surgical instrument housing is being rotated. 
     To remove the instrument  364 , the user can perform steps opposite to those performed during the unloading of the instrument. For example, the lever  696  can be unlocked. The latch can be unlocked (such as, by moving the lever  696  inward). This can cause the fastener  694  and the rail  695  to move downward, which causes the surgical instrument housing  365  to rotate. The surgical instrument actuators  322  can be disengaged from the actuators  422  (covered by the actuator covers  622 ). The instrument can be removed from the adapter  680 . 
     The fastener  694  can include an elastic element, such as a spring. For example, the rail  695  can be biased by the elastic material or element into a position in which the surgical instrument housing  365  is not rotated (such as, downward position). To rotate the surgical instrument housing  365 , the user can move the lever  696  upward, which can cause compression of the elastic material. When the user releases the lever  696 , the elastic material can decompress causing the rail  695  to be moved downward. This can facilitate easier removal of the surgical instrument. 
     With reference to  FIG. 4I , an adapter  680 ′ is illustrated. The adapter  680 ′ can be similar to the adapter  680  (and vice versa). The adapter  680 ′ can include a plurality of rail sections  695 ′ (for example, two as shown), which can operate similarly to the rail  695 . In some cases, more than two rail sections  695 ′ can be included. The rail sections  695 ′ can be separated by one or more gaps. Lever  696 ′ can operate similarly to the rail  696 . Rail  696 ′ can be shorter than the lever  696 . The lever  696 ′ can be integrated into a side of the housing of the adapter  680 ′. 
     With reference to  FIG. 4J , a combination  1300  of an adapter  1315  with the surgical instrument housing  365  is illustrated. The adapter  1315  can be similar to the adapter  680  (and vice versa). A cover  1302  can be positioned on the surgical instrument housing  365 . The cover  1302  can be connected to the surgical instrument housing  365  (for example, removably connected). The cover  1302  can include one or more protrusions  1304  (sometime referred to as teeth). Housing of the adapter  1315  can include one or more openings  1306  configured to receive the protrusions  1304  of the cover  1302 . When the surgical instrument housing  365  is rotated, the protrusions  1304  can engage with the openings  1306 . This can maintain the surgical instrument housing  365  in the rotated position. The surgical instrument housing  365  can be rotated manually by the user (for example, moved downward or upward). 
     A release mechanism  1312  can positioned on or in the housing of the adapter  1315 . The release mechanism  1312  can be a latch, such as a latch with an elastic material (for example, a spring). The release mechanism  1312  can be operated by the user (for example, moved to the right or left) to release the engagement of the protrusions  1304  with the openings  1306 . This can cause the surgical instrument housing  365  to be released. The release mechanism  1312  can control one or more releases  1308  positioned in the housing of the adapter  1315 . Each of the releases  1308  can release engagement of a corresponding pair of protrusion  1304  and openings  1306 . For example, the releases  1308  can be moved upward to push the protrusions  1304  upward and disengage the protrusions  1306  from the openings  1306 . 
     With reference to  FIG. 4K , a cover  1302 ′ can include a release mechanism  1332 . The cover  1302 ′ can be similar to the cover  1302  (and vice versa). The release mechanism  1332  can be a latch, such as a latch with an elastic material (for example, a spring). The release mechanism  1332  can operate similarly to the release mechanism  1312 . The adapter  1315 ′ can be similar to the adapter  1315  (and vice versa). The adapter  1315 ′ may not include one or more of the release mechanisms  1312  and/or the releases  1308 . 
     With reference to  FIGS. 4L-40 , an adapter  1340  can include a support or holder  1342  configured to support the surgical instrument housing  365 . The holder  1342  can support a bottom of the surgical instrument  364 . The holder  1342  can be similar to any of the covers  1302  or  1302 ′, but can be integrated with the adapter  1340 . The holder  1342  can be rotated to cause the surgical instrument  364  to rotate. For example, the holder  1342  can be rotated counterclockwise. The holder  1342  can operate as a lever or a lever arm. A release mechanism  1352  can be operated by the user (for example, moved to the right or left) to cause the holder  1342  to rotate (for example, in the opposite direction, such as clockwise) and the surgical instrument housing  365  to be released. The release mechanism  1352  can be a latch, such as a latch with an elastic material (for example, a spring). The holder  1342  can be rotated manually by the user or by operating the release mechanism  1352  as described herein. 
     In some cases, a shaft of the surgical instrument, such as the shaft  368 , can be flexible or substantially flexible. The surgical instrument housing can be rotated by flexing the shaft of the instrument. For example, with reference to  FIG. 4E , the shaft  368  can be loaded into the instrument channel through the opening  340 . The surgical instrument housing  365  can be rotated by flexing the shaft  368  to facilitate engagement of surgical instrument actuators  322  with the actuators  422  (covered by the actuator covers  622 ). 
     In some cases, any of the instrument channels can be wider at the end closer to the central unit  400 , such as the end proximal to the opening  340 . This can allow the shaft  368  to be moved within the instrument channel. The surgical instrument can be loaded at an angle and rotated to facilitate engagement of surgical instrument actuators  322  with the actuators  422  (covered by the actuator covers  622 ). The shaft can be moved through the wider part of the instrument channel to facilitate the rotation. 
     In some cases, in addition to or instead of rotation, any of the adapters described herein can be configured to facilitate any movement or transition of a surgical instrument from a first position or orientation in which the surgical instrument actuators  322  are disengaged from the actuators  422  (covered by the actuator covers  622 ) to a second position or orientation in which the instrument actuators  322  are engaged with the actuators  422 . The surgical instrument can be loaded and unloaded by being moved forward and backward in or within the adapter, moved side to side in or within the adapter, or more generally moved from one position to another position in or within the adapter. 
     In some cases, some or all of the adapters described herein may not be used. One or more instrument interfaces  420  can be sterilized before loading of the one or more instruments. One or more instrument interface  420  can be configured to allow the one or more instruments to rotate (or transition) using any of the approaches described herein. 
     Sterile Barrier for Arm 
       FIG. 5  illustrates the drape  700  for the arm  300  in an unfolded configuration. The drape  700  can be positioned (such as, removably attached) on the arm  300 . The drape  700  can enclose at least a portion of the arm  300  (see, for example,  FIGS. 80-8U ). The drape  700  can be flexible or substantially flexible similarly to the drape  600 . 
     As described herein in connection with the drape  600 , drape  700  can include one or more pockets  720  and  722 . These pockets can be similar to any of the pockets described herein, such as any of the pockets  672 ,  674 ,  676 , and  678  of the drape  600 . The pockets  720  and  722  can be positioned on an outer facing surface of the drape  700 , which as described herein may provide the sterile barrier. The pockets  720  and  722  can be labeled, for example, with labels  728  and  730 , respectively. Labels  728  and  730  can be similar to any of the labels described herein, such as any of the labels  666 ,  667 ,  668 , and  669  of the drape  600 . As described herein, labels  728  and  730  can include indications guiding the user to insert a particular hand (or portion of the hand) into the pocket. Label  728  can guide the user to insert the left hand (or portion of the left hand) into the pocket  720 . Label  730  can guide the user to insert the right hand (or portion of the right hand) into the pocket  722 . As described herein with respect to the drape  600 , the pockets  720  and  722  can be paired. The labels can provide indication of the pairing, such as, include the number “1,” as described herein (for instance, to signify an earlier or first step in the process for covering the arm  300  with the drape  700 ). 
     The drape  700  can include one or more attachments or fasteners  710 ,  712 , and  714 , which can be similar to any of the fasteners  652  and  662  of the drape  600 . Fastener  710  can be positioned in a region of the drape covered by (or overlapping with) the pocket  720 . Fastener  714  can be positioned in a region of the drape  700  covered by the pocket  722 . Fastener  712  can be positioned in a region (such as, in the middle) of the drape  700  not overlapped by a pocket. As described herein, for example in connection with the fasteners  652  and  662 , one or more of the fasteners  710 ,  712 , and  714  can include ferromagnetic material, such as a metal washer, configured to be attached to an attachment or fastener of the arm  300 . As described herein, any of the fasteners  710 ,  712 , and  714  can be positioned on or adjacent to an inner facing surface of the drape  700 , which can be configured to come into contact with the arm  300 . 
     As described herein in connection with the pockets of the drape  600 , the pockets  720  and  722  can facilitate maintaining sterility of the outer surface of the drape when the user is attaching one or more fasteners  710 ,  712 , and  714  to the fasteners of the arm  300  (as shown, for example, in  FIGS. 80-8P ). As illustrated in  FIGS. 5 and 80-8P , a pocket may not be needed to facilitate attachment of the fastener  712  as use of the pockets  720  and  722  can be sufficient for attachment of the fastener  712 . For example, because the fastener  712  can be positioned in the middle portion of the drape  700 , it would be brought into contact or into proximity of the fastener  402  positioned in the middle of the arm  300 . In some cases, a pocket overlapping the fastener  712  can be provided. In some cases, when such pocket is provided, any one or more of the pockets  720  or  722  can be omitted. 
     The drape  700  can include a pocket  724 , which can be positioned on a flap  760  on the right side of the drape. The pocket  724  can be similar to any of the pockets described herein. The pocket  724  can be positioned on the outer facing surface of the drape  700 . The pocket  724  can be configured to enclose a portion of the user&#39;s hand, such as the left hand, to facilitate enclosing a portion of the arm  300  with the drape (such as, wrapping the drape  700  around the arm; see, for example,  FIGS. 8Q-8U ). In some cases, the pocket  724  can be smaller than any of the pockets  720  or  722 . For example, the pocket  724  can be configured (for example, sized and shaped) to enclose a portion of the user&#39;s hand, such as fully or partially enclose four fingers excluding the thumb (see, for example,  FIG. 8R ). In some cases, the pocket  724  can be configured to enclose less than four fingers. The drape  700  can include a label  729 , which can be similar to any of the labels described herein. The label  729  can guide the user to insert a portion of the left hand into the pocket  724 . The label  729  can include an indication of a step in the process for covering the arm  300 . Such step can be subsequent to the step of attaching the fasteners  710 ,  712 , and  714  to the arm  300  (and affixing the top portion of the drape to the arm). For example, the label  729  can include the number “2,” as described herein. The pocket  724  can facilitate one or more of maintaining sterility of the outer facing surface of the drape when the drape is positioned (such as, wrapped around) the arm  300 , facilitating wrapping the drape  700  around the arm  300  (for example, by providing an anchor or level to the user), or the like. The pocket  724  may not be paired with another pocket. 
     Pocket  724  can be used to facilitate wrapping the drape  700  around the arm  300 . With reference to  FIG. 8Q , the user can detach the flap  760  from the drape (such as, from the middle portion of the drape adjacent to the flap  760 ). For example, the user could remove or break a tearable tab or another removable or detachable closure or attachment. With reference to FIG.  8 R, the user can wrap the flap  760  (and in some cases other portions of the drape) around the arm  300 . For example, the user can wrap the flap around one or more of the sides or back of the arm  300  to cover those portions of the arm. Illustrated arrow can indicate direction for wrapping the drape  700  around the arm  300  (such as, counterclockwise). The user can wrap the drape by using the hand positioned in the pocket  724  (such as, the left hand). 
     With reference to  FIG. 5 , the drape can include one or more fasteners  740 ,  742 ,  744 ,  746 ,  748 , and  750 , which can be similar to any of the fasteners described herein (such as, the fasteners  654 ,  656 ,  658 , and  660  of the drape  600 ). For example, the fasteners  740 ,  742 ,  744 ,  746 ,  748 , and  750  can be VELCRO fasteners. As described herein, the fasteners can be paired. For example, the pairing can be:  740  with  742 ,  748  with  750 , and  744  with  746 . Paired fasteners can be attached to one another to facilitate covering the arm  300  with the drape  700  (such as, wrapping the drape around the arm). Fasteners  740 ,  744 , and  748  can be positioned on a flap  762  (on the left side of the drape), such as, on the inner facing surface of the flap (or on the outer facing surface). Fasteners  742 ,  746 , and  750  can be positioned on the flap  760  (on the right side of the drape), such as, on the opposite surface than the paired fasteners  740 ,  748 , and  744  (for example, on the outer facing surface). In some cases, fasteners  742 ,  746 , and  750  can be positioned on the same surface as the parried fasteners  740 ,  744 , and  748 . 
     With reference to  FIG. 8S , the drape  700  is illustrated being wrapped around the arm  300  (such as, after the flap  760  being wrapped around the arm). The user&#39;s hand (such as, left hand) can remain in the pocket  724 . With the other hand (such as, right hand), the user can wrap the flap  762  (and in some cases other portions of the drape) around the portion of the drape wrapped around the arm (such as, the flap  760 ). The user can also attach the paired fasteners  740  and  742  to each other, as illustrated in  FIG. 8T . 
     The user may touch or grab the flap  762  as illustrated without the risk (or with low risk) of touching a surface that has come into contact with any non-sterile surfaces of the arm  300 . Such risk may not be present (or may be low) because the flap  762  may be attached to the drape (such as, to the middle portion of the drape adjacent to the flap  762 ) as described in connection with the flap  760 . The user can detach the flap  762 , for example, by removing or breaking a tearable tab or another removable or detachable closure or attachment. The user can wrap the flap  762  around the flap  760  as illustrated by the arrow in  FIG. 8T . Attachment of the fasteners  740  and  742  can secure the top portion of the drape  700  around the arm  300 . Attachment of paired fasteners  748  and  750  can similarly facilitate securing the middle portion of the drape around the arm  300 . 
     As illustrated in  FIG. 5 , the pocket  724  can be positioned adjacent to (or overlapping) the fastener  742 . This can facilitate attaching the fastener  742  to the fastener  740 . In some cases, one or more pockets, which can be similar to the pocket  724 , can be positioned on the flap  762 . For example, a pocket similar to the pocket  724  can be positioned adjacent (or overlapping) the fastener  740 . One or more pockets can be positioned adjacent to (or overlapping) one or more fasteners  746 ,  748 , and  750 . 
     Drape  700  can include a pocket  726 , which can be similar to the pocket  724 . Pocket  726  can be positioned in the bottom portion of the drape, such as in the bottom portion of the flap  762 . A label  731 , which can be similar to any of the labels described herein, can guide the user to insert a hand (or portion of the hand), such as the right hand, into the pocket  726 . The label  731  can include an indication of a step in the process of covering the arm subsequent to attaching the fasteners  740  and  742 . For example, the label  729  can include the number “3,” as described herein. The pocket  726  may not be paired with another pocket. 
     As illustrated in  FIG. 8U , the pocket  726  can facilitate attaching the fasteners  744  and  746 . For example, the fastener  744  can be positioned on the outer facing surface of the pocket  726 . With reference to  FIG. 5 , the pocket  726  can overlap the fastener  744 . This can provide an anchor or lever to the user for facilitating attachment of the fasteners  744  and  746 . 
     Attachment of the fasteners  740  and  742  can secure (or tighten) the bottom portion of the drape  700  around the arm  300 . As illustrated in  FIG. 8U , the bottom portion of the drape  700  can partially overlap the top portion of the drape  600 . The drapes  600  or  700  can move independently of the other, for example, due to the drapes being separate (or modular). Movement of one drape may not cause movement of the other drape. Such modularity and independence of the drapes provides advantages over existing monolithic drapes that are large, bulky, and require multiple users for installation. Some of the advantages include facilitating secure and tight fit of the drapes around different robotic surgery system components that have different shapes and sizes (such as, the central unit  400  and the arm  300 ), facilitating easier and more efficient management and installation of the drapes (for example, facilitating installation by a single user, such as sterile nurse), facilitating quicker installation, and promoting safety by lessening the risk of losing sterility during installation (for example, as a result of a sterile surface of the drape coming into contact with a non-sterile surface of a system component). 
     In some cases, the drapes  600  and  700  can be coupled. For example, the drapes  600  and  700  can be attached to each other using any of the one or more fasteners described herein. 
     In some cases, any of the pockets, fasteners, or labels illustrated in  FIG. 5  can be positioned in a different location (including on a different surface) or removed. Additional pockets, fasteners, or labels fasteners can be added. In some cases, the drape  700  may include an additional drape region or portion (shown, for example, as  770  in  FIGS. 8Q to 8T ) positioned above one or more of the pockets  720  and  722 . The additional drape portion may include a more rigid material (than that of the material of the drape  700 ) in order to cause the additional drape portion to remain upright during the medical procedure. In some cases, the additional drape portion can alternatively or additionally include supports (such as, supporting membranes) configured to hold the additional drape portion upright. The inclusion of the additional drape portion may be useful when a sterile barrier is needed above the point or region of fastening of the drape  700  to or on the robotic surgery system. The inclusion of the additional drape portion may additionally or alternatively be useful to facilitate fastening of the drape  700  to the arm  300  by the user (such as, the sterile nurse) of an average height without needing to otherwise be supported (for example, by the use of a ladder) in order to reach the fasteners on the arm  300 , while providing sufficient sterile barrier coverage of the arm above the fasteners. 
     Sterile Barrier for Column 
       FIG. 6A  illustrates the drape  800  in an unfolded configuration. The drape  800  can be positioned on the column  200  (such as, removably attached). The drape  800  can cover at least a portion of the column  200  (see, for example,  FIGS. 8V-8W ). The drape  800  can be flexible or substantially flexible similarly to any of the drapes  600  or  700 . 
     As described herein in connection with any of the drapes  600  or  700 , the drape  800  can include one or more pockets  820  and  822 . These pockets can be similar to any of the pockets described herein, such as any of the pockets  672 ,  674 ,  676 , and  678  of the drape  600  or any of the pockets  720  and  722  of the drape  700 . The pockets  820  and  822  can be positioned on an outer facing surface of the drape  800 , which as described herein may provide the sterile barrier. The pockets  820  and  822  can be labeled, for example, with labels  828  and  830 , respectively. Labels  828  and  830  can be similar to any of the labels described herein, such as any of the labels  666 ,  667 ,  668 , and  669  of the drape  600  or any of the labels  728  and  730  of the drape  700 . As described herein, labels  828  and  830  can include indications guiding the user to insert a particular hand (or portion of the hand) into the pocket. Label  828  can guide the user to insert the left hand (or portion of the left hand) into the pocket  820 . Label  830  can guide the user to insert the right hand (or portion of the right hand) into the pocket  822 . As described herein with respect to the drape  600  or  700 , the pockets  820  and  822  can be paired. The labels can provide indication of the pairing, such as, include the number “1,” as described herein (for instance, to signify an earlier or first step in the process for covering the column  200  with the drape  800 ). 
     The drape  800  can include one or more attachments or fasteners  810 ,  812 , and  814 , which can be similar to any of the fasteners  652  and  662  of the drape  600  or fasteners  710 ,  712 , and  714  of the drape  700 . Fastener  810  can be positioned in a region of the drape covered by (or overlapping with) the pocket  820 . Fastener  814  can be positioned in a region of the drape covered by the pocket  822 . Fastener  812  can be positioned in the region of the drape (such as, in the middle) not overlapped by a pocket. As described herein, for example in connection with the fasteners  652  and  662  of the drape  600  or fasteners  710 ,  712 , and  714  of the drape  700 , one or more of the fasteners  810 ,  812 , and  814  can include ferromagnetic material, such as a metal washer, configured to be attached to an attachment or fastener of the column  200 . As described herein, any of the fasteners  810 ,  812 , and  814  can be positioned on or adjacent to an inner facing surface of the drape  800 , which can be configured to come into contact with the column  200 . 
     As described herein in connection with the pockets of the drape  600  or  700 , the pockets  820  and  822  can facilitate maintaining sterility of the outer surface of the drape when the user is attaching one or more fasteners  810 ,  812 , and  814  to the fasteners of the column  200  (as shown, for example, in  FIGS. 8V-8W ). As illustrated in  FIGS. 6A and 8V-8W , a pocket may not be needed to facilitate attachment of the fastener  812  as use of the pockets  820  and  822  can be sufficient for attachment of the fastener  812  (similarly, to the drape  700 ). For example, because the fastener  812  can be positioned in the middle portion of the drape  800 , it would be brought into contact or into proximity of one of the fasteners  202 ,  204 ,  206 , or  208  positioned on the column  200 . In some cases, a pocket overlapping the fastener  812  can be provided. In some cases, when such pocket is provided, any one or more of the pockets  820  or  822  can be omitted. 
     Providing a sterile barrier for the column  200  may be advantageous in case the central unit  400 , which can be moveable, comes into contact with the column, another sterile object (such as, an instrument) comes into contact with the column, a sterile user comes into contact with the column, or the like. In some cases, the drape  800  may not be configured (such as sized and shaped) to wrap around the column  200  or a portion of the column because protecting a portion of the column  200  (for example, the portion facing the central unit  400  and/or the patient during the medical procedure) may be sufficient. In some cases, the drape  800  can be configured to be wrapped around the column  200  (or portion thereof), as described herein in connection with one or more of the drapes  600  or  700 . 
     The drape  800  can be positioned in different orientations (or positions) to cover different portions of the column  200 . With reference to  FIG. 1B-1C , four fasteners  202 ,  204 ,  206 , and  208  can be positioned on the column  200 . The drape  800  can include three fasteners  810 ,  812 , and  814 . Because the number of fasteners of the column  200  can exceed the number of fasteners of the drape  800 , the drape  800  can be positioned in different orientations to cover the column  200 . 
     Positioning the drape in different orientations can provide a sterile barrier and/or facilitate protecting the column  200  from coming into contact with blood, fluids, tissue, or the like during the medical procedure. Orientation of the drape  800  can be selected based on the location of the column  200  relative to the patient, type of medical procedure, or the like. For example, the patient cart  104  (which may be moveable) can be positioned in different locations in the operating room. Depending on the location of the patient cart  104 , a particular orientation of the drape  800  can be selected to provide a sterile barrier for a particular portion of the column  200  and/or protect the particular portion of the column  200  from being splashed, stained, or the like during the medical procedure. 
       FIG. 6B  illustrates positioning of the fasteners on the column  200 . For example, fastener  202  can be positioned in the front portion of the column, which can face the central unit  400  (see also  FIG. 1B ). The drape  800  can be positioned on, affixed to, or attached to the column  200  in one or more of the following orientations:
         Front (attached to fasteners  208 ,  202 , and  204 ),   Left (attached to fasteners  202 ,  208 , and  206 ),   Right (attached to fasteners  202 ,  204 , and  206 ), or   Back (attached to fasteners  208 ,  206 , and  204 )
 
Any of the fasteners  810 ,  812 , and  814  of the drape  800  can be attached to (or coupled with) any of the fasteners  202 ,  204 ,  206 , and  208  of the column  200 . With reference to  FIGS. 8V-8W , positioning the drape  800  on the column  200  is illustrated. As illustrated in  FIG. 8V , fastener  812  of the drape  800  can be attached to any of the fasteners  202 ,  204 ,  206 , and  208  of the column  200 .
       

     The drape  800  can include an additional drape portion  870  (shown, for example, in  FIG. 8V ). The additional drape portion  870  can be the same or similar to the additional drape portion  770  described herein. 
     Generally, any robotic surgery system component can include more fasteners than the sterile barrier configured to cover the component. This can facilitate positioning or attaching the sterile barrier in different orientations to cover different portions of the component. In some cases, more or less fasteners than described herein can be positioned on the any robotic surgery system component to facilitate greater or lesser number of orientations of a sterile barrier covering the component. In some cases, more or less fasteners than described herein can be positioned on any of the sterile barrier to facilitate lesser or greater number of orientations. 
     In some cases, a fastener of a robotic surgery system component can have at least one dimension that is different a corresponding dimension of a fastener of the sterile barrier. This can facilitate positioning or attaching the sterile barrier in different orientations to cover different portions of the component. With reference to  FIG. 11 , a sterile barrier  1400  can include a fastener  1402 . A robotic surgery system component  1450  can include a fastener  1452 . The length of the fastener  1452  can exceed or be longer than the length of the fastener  1402 , permitting the sterile barrier  1400  to be positioned in various orientations to cover at least a portion of the component  1450 . In some cases, the length of the fastener  1402  can be longer than the length of the fastener  1452 , while permitting the same or similar purpose to be achieved. Excess portion of the sterile barrier  1400  that is not attached to the fastener  1452  can be removed or folded. 
     Fasteners  1402  and  1452  can include any one or more fasteners described herein, such as ferromagnetic and magnetic materials, VELCRO, adhesive, buttons, zippers, or the like. For example, fasteners  1402  and  1452  can include continuous ferromagnetic and magnetic portions. As another example, fasteners  1402  and  1452  can include discontinuous ferromagnetic and magnetic sections to facilitate positioning of the sterile barrier in a number of fixed orientations. 
     Labels 
       FIG. 7A  illustrates a label  902  that can indicate position of any of the fasteners of the components of the robotic surgery system, such as any of the fasteners  202 ,  204 ,  206 , and  208  of the column  200 ,  302  and  304  of the central unit  400 , and  402 ,  404 , and  406  of the arm  300 . The label  902  can be attached to or affixed over or adjacent to any of the fasteners. The label  902  can match the dimensions of the fasteners. The label  902  can indicate positions of any of the fasteners of the drapes  600 ,  700 , and  800  that are configured to be attached to any of the fasteners of the components of the robotic surgery system, such as any of the fasteners  652  and  662  of the drape  600 , any of the fasteners  710 ,  712 , and  714  of the drape  700 , and any of the fasteners  810 ,  812 , and  814  of the drape  800 . The label  902  can provide a visual cue to the user where a particular fastener is located and/or what action to take (such as, affix the particular fastener to another fastener). 
     With reference to  FIG. 7B , labels  910  and  912  can guide insertion of the right and left hand, respectively, into any of the pockets of the drapes  600 ,  700 , and  800 , as described herein. With reference to  FIG. 7C , labels  920  and  922  can be similar to the labels  910  and  912 , but with addition of indicia (such as “1”) to indicate one or more of pairing of labels (such as, left and right hand labels) or a particular step in the process for covering a component with a sterile barrier, as described herein. The arrows in the labels  910 ,  912 ,  920 , and  922  can indicate a direction for inserting the hand. 
     In some cases, any of the labels  910 ,  912 ,  920 , and  922  can include contrast between one or more of the hand or arrow and the rest of the label. In some cases, any of the labels  920  and  922  can include contrast between one or more of the numbers or the circles outlining the numbers and the rest of the label. Contrast can include one or more of color contrast, texture contrast, difference in material, or the like. 
     The dashed circle in  FIG. 7A  can represent a portion of the component or drape on which the label  902  is positioned (such as, a fastener). The dashed rectangles in  FIGS. 7A-7B  can represent a portion of the drape on which any of the illustrated labels is positioned. 
     Covering Components of Robotic Surgery System with Sterile Barriers 
       FIGS. 8A-8W  illustrate the steps of covering components of the robotic surgery system with one or more sterile barriers. The sequence illustrated in  FIGS. 8A-8W  can correspond to the sequence of the steps for covering the components of the robotic surgery system with one or more sterile barriers. In some cases, steps can be performed in different order as depicted in  FIGS. 8A-8W , certain steps can be omitted or replaced, additional steps can be added, or the like. 
     Certain figures illustrate positioning of arms and/or hands of the user facing the robotic surgery system components and affixing various sterile barriers to the components. The orientation of the user and arms/hands in any of the illustrations can indicate whether left arm/hand or right arm/hand is being used by the user. For example, with reference to  FIG. 8B , an arm/hand labeled  850  can correspond to the left arm/hand, and arm/hand labeled  852  can correspond to the right arm/hand. 
     The illustrations in  FIGS. 8A-8W  are described in the foregoing sections of the disclosure. The following sections provide summary of the illustrated steps as well as certain additional details. In some cases, the steps illustrated in  FIGS. 8A-8W  can be performed by a sterile nurse. 
       FIG. 8A  illustrates attachment of the drape coupler  610  to the central unit  400  (such as, to the bottom surface of the central unit as illustrated by the arrow).  FIGS. 8B-8C  illustrates spreading out the drape  600  over the central unit  400  with use of the pockets  678  and  672  (such as, as shown in the direction of the arrows).  FIG. 8C  illustrates one or more handles  450  for moving the central unit  400 . Any of the handles  450  can include a control  452 , such as a button, for moving the central unit  400 .  FIG. 8D  illustrates attaching the fasteners  662  and  652  of the drape to the fasteners  302  and  304  of the central unit  400 . In this step, the user can affix the top portion of the drape  600  on or to the central unit  400 .  FIG. 8E  illustrates wrapping the drape around, for example, the front portion of the central unit  400  (such as, in the direction of the arrow as shown) with use of the pockets  674  and  676 . Also illustrated is a closure or fastener  602 . With reference to  FIGS. 8F-8I , one or more fasteners  602  can be configured to wrap the drape  600  around one or more protrusions of the central unit  400 . The protrusions can be handles  450 . The handles  450  can be configured to facilitate movement of the central unit  400  by the user. The fasteners  602  can include one or more bendable or substantially bendable materials, such as metal (for instance, metal wire), plastic, or the like. The one or more materials of the fasteners  602  can be resilient or substantially resilient, ductile or substantially ductile, and/or elastic or substantially elastic. The fasteners  602  can be returned to the original (such as, unbent or substantially unbent) shape by the user. The fasteners  602  can be further bent to another desired shape. The fasteners  602  can be deformable without breaking, fracture, or the like. The fasteners  602  can be used to tighten the drape  600  around portions (such as, a handle  450 ) of the central unit  400 . 
       FIGS. 8E-8F  illustrate wrapping the drape  600  around, for example, the front portion of the central unit  400 . This can be accomplished by attaching the fastener  656  to the second fastener  652 , and attaching the fastener  658  to the second fastener  662 . The user can position the user&#39;s hands in the pockets  674  and  676  as shown.  FIG. 8G  illustrates tightening the drape  600  around, for example, the rear portion of the central unit  400  (such as, in the direction shown by the arrows) by attaching the fasteners  654  and  660  to each other. 
       FIG. 8H  illustrates the drape  600  wrapped around the central unit  400 . As shown, the drape  600  can cover a portion of the arm  300 , such as the bottom portion of the arm. The arrow in  FIG. 8H  can illustrate the location for positioning the sterile drivers  232  (for example, on the interface  500  of the central unit  400 ). 
       FIG. 8I  illustrates moving the central unit  400  (such as, in the direction of the arrows) for positioning one or more sterile adapters  680 . The central unit  400  can be rotated.  FIG. 8J  illustrates positioning of the one or more sterile adapters  680 , for example, as illustrated by the arrow. The central unit  400  can be moved (as illustrated in  FIG. 8I ) and/or tilted (as illustrated in  FIG. 8J ) by activating one or more controls  452  positioned on the one or more handles  450 . For example, a button  452  (or any two or more buttons  452 ) can be pressed to move and/or tilt the central unit  400 .  FIGS. 8K-8M  illustrate, in greater details, attaching the one or more sterile adapters  680  to the one or more instrument interfaces  420 . 
     As described herein, the actuators  422  can be positioned in a default alignment to facilitate engagement with the surgical instrument actuators  322  when the surgical instrument is loaded. The surgical instrument actuators  322  can also be positioned in a default alignment. As illustrated in  FIG. 8L , the actuators  422  can be centrally aligned in the default alignment. The surgical instrument actuators  322  can also be centrally aligned in the default alignment. The actuator covers  622  of the adapter  680  can be maintained or fixed in a default alignment, which can match the default alignment of the actuators  422  (and/or the instrument actuators  322 ). As illustrated in  FIG. 8N , a retainer  698  can maintain the actuator covers  622  in the default alignment. The retainer  698  can surround the actuators covers  622  as shown. The retainer  698  can be removable. The retainer  698  can be attached to the surface of the adapter configured to face away from the instrument interface  420 . After the adapter  680  is attached to the instrument interface  420  (and the actuator covers  622  are engaged with the actuators  422 ), the retainer can be removed. In some cases, the retainer  698  can include adhesive tape attached to one or more surfaces of the adapter  680  surrounding the actuator covers as shown. The adhesive tape can be removed after installation of the adapter  680 . 
     In some cases, the actuator covers  622  can be maintained in the default alignment by being connected together with one or more strips. The strips can include material that can be removed easily, such as plastic. For example, adjacent actuator covers can be connected together with plastic strips or pieces. When the actuator covers  622  are moved due to movement of the actuators  422 , the plastic pieces would break off. The actuator covers  622  can include groves or channels for attaching the plastic pieces. The channels can be formed during, for example, molding of the actuator covers. In some cases, a removable cover can be used to maintain default alignment of the actuator covers. After the adapter  680  is attached to the instrument interface, the cover can be removed to permit independent movement of the actuator covers  622 . 
       FIGS. 80-8U  illustrate covering the arm  300  with the drape  700 .  FIGS. 80-8P  illustrate attaching the fasteners  710 ,  712 , and  714  to the fasteners  402 ,  404 , and  406  of the arm  300  with use of the pockets  720  and  722  (for example, in the direction of the arrow in  FIG. 8O ). In this step, the user can affix the top portion of the drape  700  on or to the arm  300 .  FIG. 8Q  illustrates detaching the flap  760  from the drape  700 , such as, in the direction of the arrow.  FIG. 8R  illustrates wrapping the flap  760  (and in some cases other portions of the drape) around the arm  300  with use of the pocket  724 , such as, in the direction of the arrow. For example, the left hand (or portion thereof) of the user can be positioned in the pocket  724 . The user can use the other hand (such as, the right hand) to assist with the wrapping of the drape  700 . A pocket for positioning the other hand may not be needed since the risk the other hand of coming into contact with a non-sterile surface may be low or not present because any of the flaps  760  or  762  is unlikely to have come into contact with a non-sterile surface. 
       FIGS. 8S-8T  illustrate wrapping the drape around the arm  300 .  FIG. 8S  illustrates the flap  760  (and in some cases other portions of the drape) being wrapped around the arm  300 , such as, in the direction illustrated by the arrow. The user&#39;s hand can remain in the pocket  724 . The other flap  762  is illustrated as being wrapped around a portion of the drape (such as, the flap  760 ), such as, in the direction shown by the arrow in  FIG. 8T . The user can wrap the flap  762  with the other hand not positioned in the pocket  724  (such as, the right hand).  FIG. 8T  illustrates attaching fasteners  740  and  742  to each other to secure (such as, tighten) at least the top portion of the drape  700 . As described herein, the middle portion of the drape can be similarly secured by attaching the fasteners  748  and  750 .  FIG. 8U  illustrates securing (for example, tightening) the bottom portion of the drape  700  by attaching the fasteners  744  and  746  to each other with the use of the pocket  726 . The drape  700  can be tightened in the direction of the illustrated arrows. The bottom portion of the drape  700  can partially overlap the top portion of the drape  600 , as described herein.  FIGS. 8Q-8T  illustrate the additional drape portion  770 , which may be optional. 
       FIGS. 8V-8W  illustrate covering the column  200  with the drape  800 . The fasteners  810 ,  812 , and  814  are attached (such as, in the direction of the illustrated arrows) to three of the four fasteners  202 ,  204 ,  206 , and  208  of the column  200  with use of the pockets  820  and  822  to position the drape  800  in the desired orientation.  FIGS. 8V-8W  illustrate the additional drape portion  870 , which may be optional. 
     In some cases, sterile barrier for the central unit  400  can be installed first. Installation of the sterile barrier for the central unit  400  can be performed in the following order: sterile barrier  650 , followed by one or more sterile drivers  232 , and followed by one or more sterile adapters  680 . Sterile barrier  700  for the arm  300  can be installed next. Sterile barrier  800  for the column  200  can be installed last. In some cases, steps can be performed in different order, certain steps can be omitted or replaced, additional steps can be added, or the like. 
     Sterile barriers described herein can be removable. The user, such as, the sterile nurse (and/or non-sterile nurse), can remove the sterile barriers. For example, the user can follow reverse steps for removing the sterile barriers. 
     Sterile Barrier Fasteners for Robotic Surgery System Components 
     As described herein, the components of the robotic surgery system can include fasteners for attaching fasteners of the sterile barriers. For example, the column  200  can include fasteners  202 ,  204 ,  206 , and  208 , the central unit  300  can include fasteners  302  and  304  of the central unit, and the arm can include fasteners  402 ,  404 , and  406 . The fasteners can be positioned on the external surfaces of the components. The fasteners can be configured to support the sterile barriers. The fasteners can be configured to withstand the sheer forces that may be applied to the sterile barriers during the medical procedure while maintaining secure attachment. 
     In some cases, any of the fasteners can be magnetic fasteners. The magnetic fasteners can be configured to provide secure support for the sterile barriers during the medical procedure. One or more magnetic materials of a fastener can be selected to have sufficient strength to support the sterile barrier attached to the component. Alternatively or additionally, a configuration of the fastener can be important for providing secure support for the sterile barrier. 
       FIG. 9  illustrates configurations  1010  and  1020  of a fastener. The fastener can include a recess defined by a bottom surface and side surfaces or walls  1012  in the configuration  1010  and side surfaces or walls  1022  in the configuration  1020 . Corresponding fastener  1030  of the sterile barrier can be at least partially received or positioned in the recess. This can facilitate secure attachment. 
     Magnetic material  1040  (such as, a permanent magnet) can be positioned in the recess (such as, at the bottom of the recess) in the configurations  1010  and  1020 . The side walls  1012  in the configuration  1010  can form a right (or substantially right angle) with the bottom of the recess. The side walls  1012  in the configuration  1010  can form a right (or substantially right) angle with the exterior surface of the robotic surgery system component. In this configuration, the fastener  1030  of a sterile barrier may be more securely attached to the fastener of the robotic surgery component due to, for example, presence in the recess of one or more edges, including sharp edges (such as, edges formed at a right angle or substantially right angle). This can facilitate secure attachment by preventing an unintended dislodging or disengagement of the fastener  1030 , while facilitating efficient disengagement by the user when the sterile barrier is being repositioned or removed. 
     The side walls  1022  in the configuration  1020  can be curved as illustrated. The transitions made by the side walls  1022  can be smooth. The angle formed by the side walls  1022  with the bottom of the recess (and/or the exterior surface of the robotic surgery system component) can be more acute than a right (or substantially right) angle, which may cause the fastener  1030  to dislodge or disengage more easily than in the configuration  1010 . In some cases, the side walls in the configuration  1020  can be straight (rather than curved), but form an acute angle with the bottom of the recess (and/or the exterior surface of the robotic surgery system component). 
     Detection of Positioning and Orientation of Sterile Barriers 
     The robotic surgery system can be configured to detect one or more of positioning and orientation of the sterile barriers. This can be advantageous for verifying that the robotic surgery system is properly covered prior to the start of the medical procedure. In some cases, the electronic circuitry  114  alone or in combination with the electronic circuitry  118  can perform the detection of one or more of the positioning or orientation. Indication corresponding to the detection can be provided to the user visually (such as, via any of the displays  120  or  123 ), audibly, tactilely, and/or the like. 
     One or more detectors or sensors can be used to facilitate the detection. The sensors can include proximity sensors, such as one or more of capacitive sensors, photoelectric sensors, inductive sensors (which may be used for detecting a metal object, such as a fastener or metal tracing, of the sterile barrier), RFID detectors, or the like. The one or more sensors can be coupled to the electronic circuitry  118  and/or  114 . A sensor can detect whether a sterile barrier (or portion of the sterile barrier) is in contact with a fastener of any of the components of the robotic surgery system or present within a threshold distance of the sensor. In some cases, the threshold distance may be a few millimeters, a few centimeters, or a few inches. In some cases, the sensor can detect contact of the sterile barrier (or portion thereof) with a fastener. For example, the sensor can detect positioning of ferromagnetic material, such as metal washer, metal trace, or the like of the sterile barrier on the fastener of the robotic surgery system. The electronic circuitry  118  and/or  114  can use data provided by the one or more proximity sensors to determine one or more of positioning or orientation of the sterile barrier. 
     One or more sensors can be positioned on the one or more robotic surgery system components. For example, one or more sensors can be positioned in or adjacent to the recesses described in connection with  FIGS. 9A-9B . One or more sensors can be calibrated to perform the detection. For example, a sensor can be calibrated to perform the detection when the sterile barrier is attached to (such as, makes contact with) or positioned within threshold distance of one or more fasteners of the components of robotic surgery system, but not when the sterile barrier is positioned at a distance farther than the threshold distance. 
     In some cases, orientation of the sterile barrier can be detected based on a determination of which of the one or more fasteners of the components of the robotic surgery system the sterile barrier is attached to. For example, as described herein, the sterile drape  800  can be attached (or positioned) in multiple orientations. Determination that the drape fasteners are attached to (or coupled with) a set of the fasteners  202 ,  204 ,  206 , and  208  of the column  200  can be used to indicate that the drape  800  is positioned. Depending on the determination of which of the fasteners  202 ,  204 ,  206 , and  208  the drape fasteners are attached to, orientation of the drape can be determined. For instance, determination of attachment of the drape fasteners to the fasteners  208 ,  202 , and  204  of the column  200  can indicate front orientation of the drape, as described herein. As another example, one or more RFID tags of the sterile barrier can be detected by one or more RFID detectors of the robotic surgery system. Different portions of the sterile barrier can include different RFID tags (for example, different tags can transmit different unique identifiers). Detection of a particular RFID tag from a set of different RFID tag by an RFID tag detector can indicate positioning and orientation of the sterile barrier. 
     Based on the detection of one or more of positioning and orientation of a sterile barrier, a determination of whether the sterile barrier is correctly attached can be made. For example, if the correct orientation of the sterile drape  800  is the front orientation, determination that the drape  800  is attached in the front orientation can indicate that the attachment of the drape is correct, or otherwise in the desired orientation. Indication of whether the attachment is correct or not can be provided to the user visually (such as, via any of the displays  120  or  123 ), audibly, tactilely, and/or the like. 
     Sterile Barrier Kit 
     The sterile barriers described herein can be packaged in sterile packaging and provided as a one or more kits. The packaging can include one or more bags, pouches, boxes, trays, or the like.  FIG. 10  illustrates a kit  1210 , which can include the sterile barrier  650 , one or more sterile drivers  232 , and one or more sterile adapters  680  for the central unit  400 . The kit  1210  can include the sterile barrier  700  for the arm  300 . A kit  1220  can include the sterile barrier  700  for the column  200 . In some cases, kits  1210  and  1220  can be combined into a single kit. Each sterile barrier in any of the kits can be sterile. Each sterile barrier in any of the kits can be packaged into sterile packaging. The illustrations shown in  FIG. 10  can correspond to labels included in or on the packaging for the sterile barriers. 
     In some cases, the numbering  1  ( 1 A,  1 B,  1 C),  2 , and  3  can indicate the order of steps for covering the robotic surgery system with sterile barriers, as described herein in connection with  FIGS. 8A-8W . One or more numbers can be omitted in some cases, different numbers can be used, the numbers can be in different order, or the like. The illustrated text can be fully or partially omitted, different text can be used, or the like. 
     Other Variations 
     Those skilled in the art will appreciate that, in some embodiments, additional components and/or steps can be utilized, and disclosed components and/or steps can be combined or omitted. For example, although some embodiments are described in connection with a robotic surgery system, the disclosure is not so limited. Systems, devices, and methods described herein can be applicable to medical devices and medical procedures in general, among other uses. 
     In some cases, one or more surfaces of one or more components of the robotic surgery system may be sterilized (for example, one or more external surfaces and/or other parts can be sterilized), and any of the sterile barriers described herein may not be used. In some cases, magnetic material can be included in the fasteners of the sterile barriers and ferromagnetic material can be included in the fasteners of the one or more components of the robotic surgery system. In some cases, in addition to or instead of using magnetic force(s) for attachment, one or more fasteners can include adhesive, buttons, VELCRO, zippers, or the like. Although certain sterile barriers are described as drapes, barriers other than drapes can be used. Any of the fasteners disclosed herein can be referred to as a closure, attachment, or the like. In some cases, one or more pockets described herein can be omitted. The user may be able to grip a particular fastener through the sterile surface of the drape, such as the outer facing surface. Although certain components are illustrated as being circular, the components can have any shape, such as square, rectangular, or the like. 
     The foregoing description details certain embodiments of the systems, devices, and methods disclosed herein. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the systems, devices, and methods can be practiced in many ways. The use of particular terminology when describing certain features or aspects of the disclosure should not be taken to imply that the terminology is being redefined herein to be restricted to including any specific characteristics of the features or aspects of the technology with which that terminology is associated. 
     It will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the scope of the described technology. Such modifications and changes are intended to fall within the scope of the embodiments. It will also be appreciated by those of skill in the art that parts included in one embodiment are interchangeable with other embodiments; one or more parts from a depicted embodiment can be included with other depicted embodiments in any combination. For example, any of the various components described herein and/or depicted in the figures can be combined, interchanged, or excluded from other embodiments. 
     With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations can be expressly set forth herein for sake of clarity. 
     Directional terms used herein (for example, top, bottom, side, up, down, inward, outward, etc.) are generally used with reference to the orientation or perspective shown in the figures and are not intended to be limiting. For example, positioning “above” described herein can refer to positioning below or on one of sides. Thus, features described as being “above” may be included below, on one of sides, or the like. 
     It will be understood by those within the art that, in general, terms used herein are generally intended as “open” terms (for example, the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims can contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (for example, “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (for example, the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations). 
     The term “comprising” as used herein is synonymous with “including,” “containing,” or “characterized by,” and is inclusive or open-ended and does not exclude additional, unrecited elements or method steps. 
     Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or steps are included or are to be performed in any particular embodiment. 
     Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function and/or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, and/or within less than 0.01% of the stated amount. 
     It will be further understood by those within the art that any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, can be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” Further, the term “each,” as used herein, in addition to having its ordinary meaning, can mean any subset of a set of elements to which the term “each” is applied. 
     Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z. 
     The above description discloses embodiments of systems, apparatuses, devices, methods, and materials of the present disclosure. This disclosure is susceptible to modifications in the components, parts, elements, steps, and materials, as well as alterations in the fabrication methods and equipment. Such modifications will become apparent to those skilled in the art from a consideration of this disclosure or practice of the disclosure. Consequently, it is not intended that the disclosure be limited to the specific embodiments disclosed herein, but that it cover all modifications and alternatives coming within the scope and spirit of the subject matter embodied in the following claims.