A sterile drape configured for isolating a portion of a surgical device within a sterile environment, comprising: a plurality of drape interface mechanisms comprising: at least one drape/handle interface mechanism comprising a first ring defining a first opening through the sterile drape and configured for coupling with a control mechanism, the control mechanism comprising a surgical device for controlling a surgical instrument; and at least one drape/shaft interface mechanism comprising a second ring defining a second opening through the sterile drape, and configured for sealingly receiving a shaft there through as the shaft moves with a piston and is detachably coupled with the piston, wherein the piston is configured for responding to a first set of control signals sent by a first mechanical manipulation mechanism via a first connector by moving between a proximal end and a distal end of a first mechanical slave cylinder.