Sterile barrier assembly for a robotic surgery system comprising: - a surgical drape having at least one drape opening (209, 209'); - at least one connector (212, 212') contouring said at least one drape opening (209, 209') and suitable for coupling with a case (251, 251') of a non-sterile robotic manipulator (220, 220'); and - at least one sterile adapter (221, 221') having a frame comprising a coupling device for coupling with at least one surgical instrument (240, 240'), said at least one sterile adapter (221, 221') being suitable to be coupled with at least one rolling body (230, 230') of the non-sterile robotic manipulator (220, 220'), wherein said at least one rolling body (230, 230') is suitable to pivot in respect to said case (251, 251'); wherein - the at least one connector (212, 212') of the surgical drape and the at least one sterile adapter (221, 221') are made in separate pieces; - the at least one sterile adapter (221, 221') is suitable to pivot in respect of the at least one connector (212, 212') of the surgical drape; - between the at least one connector (212, 212') of the surgical drape and the at least one sterile adapter (221, 221') it is provided a gap (235, 235'); and wherein said at least one connector (212, 212') of the surgical drape comprises a distal surface (215, 215') facing distally and said sterile adapter (221, 221') comprises a proximal surface facing proximally, said distal surface (215, 215') of the connector (212, 212') faces said proximal surface of the sterile adapter (221, 221') delimiting said gap (235, 235'); said gap (235, 235') prevents the non-sterile robotic manipulator to contaminate a sterile operatory field while avoids direct connection of the sterile adapter (221, 221') to the connector (212, 212') of the surgical drape, said gap (235, 235') forms together with said at least one connector (212, 212') and with said at least one sterile adapter (221, 221') a rotatable seal, which avoids generating rotative friction onto the at least one connector and the at least one sterile adapter, while preserving sterility of the sterile operatory field. - a surgical drape having at least one drape opening (209, 209'); - at least one connector (212, 212') contouring said at least one drape opening (209, 209') and suitable for coupling with a case (251, 251') of a non-sterile robotic manipulator (220, 220'); and - at least one sterile adapter (221, 221') having a frame comprising a coupling device for coupling with at least one surgical instrument (240, 240'), said at least one sterile adapter (221, 221') being suitable to be coupled with at least one rolling body (230, 230') of the non-sterile robotic manipulator (220, 220'), wherein said at least one rolling body (230, 230') is suitable to pivot in respect to said case (251, 251'); wherein - the at least one connector (212, 212') of the surgical drape and the at least one sterile adapter (221, 221') are made in separate pieces; - the at least one sterile adapter (221, 221') is suitable to pivot in respect of the at least one connector (212, 212') of the surgical drape; - between the at least one connector (212, 212') of the surgical drape and the at least one sterile adapter (221, 221') it is provided a gap (235, 235'); and wherein said at least one connector (212, 212') of the surgical drape comprises a distal surface (215, 215') facing distally and said sterile adapter (221, 221') comprises a proximal surface facing proximally, said distal surface (215, 215') of the connector (212, 212') faces said proximal surface of the sterile adapter (221, 221') delimiting said gap (235, 235'); said gap (235, 235') prevents the non-sterile robotic manipulator to contaminate a sterile operatory field while avoids direct connection of the sterile adapter (221, 221') to the connector (212, 212') of the surgical drape, said gap (235, 235') forms together with said at least one connector (212, 212') and with said at least one sterile adapter (221, 221') a rotatable seal, which avoids generating rotative friction onto the at least one connector and the at least one sterile adapter, while preserving sterility of the sterile operatory field. said at least one connector (212, 212') of the surgical drape comprises a distal surface (215, 215') facing distally and said sterile adapter (221, 221') comprises a proximal surface facing proximally, said distal surface (215, 215') of the connector (212, 212') faces said proximal surface of the sterile adapter (221, 221') delimiting said gap (235, 235'); said gap (235, 235') prevents the non-sterile robotic manipulator to contaminate a sterile operatory field while avoids direct connection of the sterile adapter (221, 221') to the connector (212, 212') of the surgical drape, said gap (235, 235') forms together with said at least one connector (212, 212') and with said at least one sterile adapter (221, 221') a rotatable seal, which avoids generating rotative friction onto the at least one connector and the at least one sterile adapter, while preserving sterility of the sterile operatory field.