A sterile handle (302, 400, 502, 710, 804, 1100) for use with a robotic surgical system (600, 700) the sterile handle (302, 400, 502, 710, 804, 1100) comprising: an electrical assembly (316, 516) comprising one or more input devices (318, 518, 806) for commanding the robotic surgical system (600, 700) via a wired electrical connection; a tightening sleeve (304, 408, 1106) comprising a hollow tubular structure having a first open end, said structure defining an axis along which a portion of a surgical instrument guide (206, 320, 420) may be inserted into the tightening sleeve (304, 408, 1106), the tightening sleeve (304, 408, 1106) comprising two or more openings (308, 410, 1108) along a length of the tightening sleeve (304, 408, 1106) allowing the tightening sleeve (304, 408, 1106) to mechanically flex under tension, wherein the two or more openings (308, 410, 1108) each comprise at least one member selected from the group consisting of a slot, a hole, and a perforation; a sterile handle housing (306, 406, 1104) comprising a hollow tubular structure having a first open end, said structure defining an axis along which the tightening sleeve (304, 408, 1106) may be inserted into the sterile handle housing (306, 406, 1104); 1104), and characterised in that the sterile handle further comprises: a tightening nut (312, 412, 808) coupled to the sterile handle housing (306, 406, 1104) comprising a thread on an interior of the tightening nut (312, 412, 808), wherein the tightening nut (312, 412, 808) is configured to engage a thread on exterior of the tightening sleeve (304, 408, 1106) and thereby tighten the tightening sleeve (304, 408, 1106) such that a wedge (314, 416) on the sterile handle housing (306, 406, 1104) contacts a wedge on the tightening sleeve (304, 408, 1106), so that a portion of the body of the tightening sleeve (304, 408, 1106) in proximity to the two or more openings is pinched in order to decrease a diameter of a portion of the tightening sleeve (304, 408, 1106) and to securely hold a portion of a surgical instrument guide (206, 320, 420) inserted into the tightening sleeve (304, 408, 1106). an electrical assembly (316, 516) comprising one or more input devices (318, 518, 806) for commanding the robotic surgical system (600, 700) via a wired electrical connection; a tightening sleeve (304, 408, 1106) comprising a hollow tubular structure having a first open end, said structure defining an axis along which a portion of a surgical instrument guide (206, 320, 420) may be inserted into the tightening sleeve (304, 408, 1106), the tightening sleeve (304, 408, 1106) comprising two or more openings (308, 410, 1108) along a length of the tightening sleeve (304, 408, 1106) allowing the tightening sleeve (304, 408, 1106) to mechanically flex under tension, wherein the two or more openings (308, 410, 1108) each comprise at least one member selected from the group consisting of a slot, a hole, and a perforation; a sterile handle housing (306, 406, 1104) comprising a hollow tubular structure having a first open end, said structure defining an axis along which the tightening sleeve (304, 408, 1106) may be inserted into the sterile handle housing (306, 406, 1104); 1104), and characterised in that the sterile handle further comprises: a tightening nut (312, 412, 808) coupled to the sterile handle housing (306, 406, 1104) comprising a thread on an interior of the tightening nut (312, 412, 808), wherein the tightening nut (312, 412, 808) is configured to engage a thread on exterior of the tightening sleeve (304, 408, 1106) and thereby tighten the tightening sleeve (304, 408, 1106) such that a wedge (314, 416) on the sterile handle housing (306, 406, 1104) contacts a wedge on the tightening sleeve (304, 408, 1106), so that a portion of the body of the tightening sleeve (304, 408, 1106) in proximity to the two or more openings is pinched in order to decrease a diameter of a portion of the tightening sleeve (304, 408, 1106) and to securely hold a portion of a surgical instrument guide (206, 320, 420) inserted into the tightening sleeve (304, 408, 1106).