Sterile connectors for robotic or robot-assisted surgery and related systems and methods can be used to establish a sterile barrier between a non-sterile robot arm and a surgical site. More particularly, a sterile connector can include a first component connector to couple to a distal end of a robot arm, a second component connector to couple to an end effector, and a sterile drape extending from the sterile connector. The sterile drape can drape the robot arm and can maintain a sterile barrier around the robot arm throughout the course of a surgical procedure. In this manner, an end effector can be swapped out during the procedure without the need to re-drape or re-establish the sterile surgical field. In some embodiments, the sterile connector can facilitate the passage of electrical signals and/or light between the sterile connector and at least one of the robot arm and end effector.