A sterile drape (200, 300, 400) comprising: a first drape section including: an exterior surface adjacent to a sterile field for performing a surgical procedure; an interior surface forming a cavity for receiving a first non-sterile portion of a robotic surgical system, the first non-sterile portion including a monitor; a permanent integral cuff (220, 323, 412) at an open end of the cavity and a marker (218, 320, 411) on the permanent integral cuff (220, 323, 412) designating a sterile side and a non-sterile side of the drape (200, 300, 400); a first vent through the interior and exterior surfaces in communication with the sterile field; and a second vent through the interior and exterior surfaces in communication with the sterile field and spaced apart from the first vent, wherein the first and second vents allow convection heat venting of the monitor over which the first drape section is arranged; and a second drape section connected to the first drape section and including an instrument sterile adaptor for engaging a surgical tool and another non-sterile portion of the robotic surgical system, the sterile adaptor configured to transfer signals between the surgical tool and the other non-sterile portion of the robotic surgical system. a first drape section including: an exterior surface adjacent to a sterile field for performing a surgical procedure; an interior surface forming a cavity for receiving a first non-sterile portion of a robotic surgical system, the first non-sterile portion including a monitor; a permanent integral cuff (220, 323, 412) at an open end of the cavity and a marker (218, 320, 411) on the permanent integral cuff (220, 323, 412) designating a sterile side and a non-sterile side of the drape (200, 300, 400); a first vent through the interior and exterior surfaces in communication with the sterile field; and a second vent through the interior and exterior surfaces in communication with the sterile field and spaced apart from the first vent, wherein the first and second vents allow convection heat venting of the monitor over which the first drape section is arranged; and an exterior surface adjacent to a sterile field for performing a surgical procedure; an interior surface forming a cavity for receiving a first non-sterile portion of a robotic surgical system, the first non-sterile portion including a monitor; a permanent integral cuff (220, 323, 412) at an open end of the cavity and a marker (218, 320, 411) on the permanent integral cuff (220, 323, 412) designating a sterile side and a non-sterile side of the drape (200, 300, 400); a first vent through the interior and exterior surfaces in communication with the sterile field; and a second vent through the interior and exterior surfaces in communication with the sterile field and spaced apart from the first vent, wherein the first and second vents allow convection heat venting of the monitor over which the first drape section is arranged; and a second drape section connected to the first drape section and including an instrument sterile adaptor for engaging a surgical tool and another non-sterile portion of the robotic surgical system, the sterile adaptor configured to transfer signals between the surgical tool and the other non-sterile portion of the robotic surgical system.