A robotic surgical system may include an actuator including a plurality of linearly displaceable drive members, where at least one drive member actuates at least one degree of freedom of a surgical instrument, and a sterile adapter interposed between the actuator and the surgical instrument. The sterile adapter includes a flexible barrier and a plurality of extensible covers integrally formed with the flexible barrier, and the plurality of extensible covers are arranged to receive the plurality of drive members. In some variations, the system may include an interlocked arrangement coupling the actuator and the surgical instrument across the sterile adapter, the interlocked arrangement urging the actuator and the surgical instrument together when the actuator actuates the at least one degree of freedom of the surgical instrument.
