A telesurgical manipulator comprises a surgical instrument, an instrument holder adapted to releasably mount the surgical instrument, an electrically-isolating and sterile drape, an instrument interface included on the instrument holder, and a communication device disposed on the instrument holder. The instrument interface is operably couplable to the surgical instrument via a sterile adaptor that secures the electrically-isolating and sterile drape to the instrument interface. The electrically-isolating and sterile drape permits communication between the surgical instrument and the instrument holder while maintaining an electrically-isolating and sterile barrier therebetween. The communication device wirelessly communicates with the surgical instrument, with the electrically-isolating and sterile drape disposed therebetween, and wirelessly provides power to the surgical instrument, with the electrically-isolating and sterile drape disposed therebetween.