A mounting system for coupling first (R) and second (EE) surgical components using a sterile barrier assembly for establishing a barrier between said first (R) and second (EE) surgical components, said mounting system comprising: a first mounting portion associated with the first surgical component (R); a second mounting portion associated with the second surgical component (EE); and the sterile barrier assembly comprising a protective covering having a plurality of kinematic couplers configured to provide a kinematic coupling between the first (R) and second (EE) surgical components through said protective covering , characterized in that the kinematic couplers of the protective covering are configured to engage said mounting portions (24, 24; 224, 226; 424, 426) and provide a kinematic coupling between said mounting portions (24, 24; 224, 226; 424, 426) through said protective covering to constrain six degrees of freedom of movement between the surgical components (R, EE), wherein the plurality of kinematic couplers are defined as a plurality of balls , wherein said first mounting portion includes a first plurality of receptacles (30, 32, 34; 230, 232, 234; 432) having a first plurality of contact surfaces (50, 52, 54; 250, 252, 254; 452) for engaging said plurality of kinematic couplers and said second mounting portion includes a second plurality of receptacles (36, 38, 40; 236, 238, 240; 438) having a second plurality of contact surfaces for engaging said plurality of kinematic couplers , said contact surfaces (50, 52, 54, 56; 250, 252, 254, 256; 452, 456) shaped to cooperate with said plurality of kinematic couplers to constrain the six degrees of freedom of movement between the surgical components (R, EE) by said first and second pluralities of contact surfaces providing exactly six contact points with the balls , and wherein the mounting system further includes a preloading mechanism having a preloading element , said preloading mechanism configured to clamp said mounting portions (24, 24; 224, 226; 424, 426) together through said protective covering . a first mounting portion associated with the first surgical component (R); a second mounting portion associated with the second surgical component (EE); and the sterile barrier assembly comprising a protective covering having a plurality of kinematic couplers configured to provide a kinematic coupling between the first (R) and second (EE) surgical components through said protective covering , the kinematic couplers of the protective covering are configured to engage said mounting portions (24, 24; 224, 226; 424, 426) and provide a kinematic coupling between said mounting portions (24, 24; 224, 226; 424, 426) through said protective covering to constrain six degrees of freedom of movement between the surgical components (R, EE), wherein the plurality of kinematic couplers are defined as a plurality of balls , wherein said first mounting portion includes a first plurality of receptacles (30, 32, 34; 230, 232, 234; 432) having a first plurality of contact surfaces (50, 52, 54; 250, 252, 254; 452) for engaging said plurality of kinematic couplers and said second mounting portion includes a second plurality of receptacles (36, 38, 40; 236, 238, 240; 438) having a second plurality of contact surfaces for engaging said plurality of kinematic couplers , said contact surfaces (50, 52, 54, 56; 250, 252, 254, 256; 452, 456) shaped to cooperate with said plurality of kinematic couplers to constrain the six degrees of freedom of movement between the surgical components (R, EE) by said first and second pluralities of contact surfaces providing exactly six contact points with the balls , and wherein the mounting system further includes a preloading mechanism having a preloading element , said preloading mechanism configured to clamp said mounting portions (24, 24; 224, 226; 424, 426) together through said protective covering . <EOS>