Instrument drape

1. A surgical drape comprising:

a tube having a proximal end and a distal end, the tube defining an interior bore sized to receive an elongated shaft of a surgical instrument;

a port coupler at the distal end of the tube, the port coupler comprising:

a handling portion configured to be grasped and manipulated by a human hand to engage the port coupler with an entry guide through a sealed sterile connection, the entry guide comprising a cannula that defines a surgical port through which the elongated shaft extends; and

a sealed closure configured to open in response to a force exerted by a surface of the entry guide; and

a base coupler at the proximal end of the tube, the base coupler comprising a fastener releasably engageable with a mating fastener of the surgical instrument at a proximal portion of the shaft; and

wherein the tube is collapsible to accommodate relative movement between the instrument and the surgical port.

2. The surgical drape of claim 1 , wherein the tube comprises a sheet of film sufficiently flexible to reversibly collapse as the proximal portion of the shaft is moved relative to the surgical port.

3. The surgical drape of claim 1 , wherein the tube comprises an accordion structure configured to reversibly collapse as the proximal portion of the shaft is moved relative to the surgical port.

4. The surgical drape of claim 1 , wherein the base coupler, tube, and port coupler are configured to withstand a sterilization process.

5. The surgical drape of claim 1 , wherein the tube comprises an impervious tube wall having an exterior surface and a sterile interior surface.

6. The surgical drape of claim 1 , wherein the port coupler is configured to form a sterile seal with the surgical port.

7. The surgical drape of claim 1 , wherein the sealed closure of the port coupler comprises a self-sealing closure configured to seal the interior bore of the tube when the port coupler is detached from the surgical port.

8. The surgical drape of claim 7 , wherein the self-sealing closure comprises a resilient sealing lip, the sealing lip comprises a pair of opposing hinges configured to facilitate opening of the self-sealing closure.

9. The surgical drape of claim 7 , wherein the self-sealing closure comprises a magnetic element along a portion of the distal end of the tube.

10. The surgical drape of claim 1 , wherein the tube encloses the shaft within a sterile field along a length of the shaft extending from a control mechanism coupled at the proximal portion of the shaft to the surgical port.

11. The surgical drape of claim 10 , wherein the length comprises an entire exposed length of the shaft.

12. The surgical drape of claim 10 , wherein the mating fastener is located on the control mechanism.

13. A surgical drape comprising:

a tube having a proximal end and a distal end, the tube defining an interior bore sized to receive an elongated shaft of a surgical instrument mounted to move along a spar of a robotic surgical system;

a port coupler at the distal end of the tube, the port coupler comprising:

a handling portion configured to be grasped and manipulated by a human hand to engage the port coupler with an entry guide through a sealed sterile connection, the entry guide fixed to the spar and comprising a cannula that defines a surgical port through which the elongated shaft extends; and

a sealed closure configured to open in response to a force exerted by a surface of the entry guide;

wherein the tube is collapsible to accommodate relative movement between the instrument and the surgical port,

a base coupler at the proximal end of the tube, the base coupler configured to couple the tube to a proximal base of the instrument,

wherein the tube comprises an accordion structure configured to reversibly collapse as the proximal base is moved relative to the surgical port, and

wherein the tube is sufficiently stiff to inhibit distention by an insufflation gas released through the surgical port into the tube.