a medical system and an integrated drape assembly for a medical system is provided . the medical system comprises a surgical instrument that carries a distal tool configured for performing a medical procedure on a patient , a drive unit configured for controlling the movement of the surgical instrument within at least one degree - of - freedom , a coupling mechanism through which the surgical instrument is operably coupled to the drive unit , and an integrated drape assembly having a drape insert through which the coupling mechanism is coupled to the surgical instrument , a sterile drape covering the coupling mechanism . the drape assembly may comprise a coupling element mounted within the drape insert . the coupling element may be configured for coupling a driver element of the medical system to a driven element of the medical system .