An interface mechanism comprising: a ring defining an opening and configured for sealingly receiving a shaft there through, the ring comprising: an inner portion and an outer portion, wherein the inner portion is sealingly coupled with a portion of a distal end of a mechanical slave cylinder of a surgical device, and the outer portion is coupled with the inner portion and is sealingly coupled with a draping material, the draping material configured for isolating a portion of the surgical device within a sterile environment.
