A telesurgical manipulator comprises an instrument holder adapted to releasably mount a surgical instrument and an instrument interface included on the instrument holder. The instrument interface is operably couplable to the surgical instrument via a sterile adaptor that secures a sterile drape to the instrument interface. The sterile drape permits communication between the surgical instrument and the instrument holder while maintaining a sterile barrier therebetween. The telesurgical manipulator also includes a communication device disposed on the instrument holder that wirelessly communicates with the surgical instrument, with the sterile drape disposed therebetween, and that wirelessly provides power to the surgical instrument, with the sterile drape disposed therebetween.
