Systems and tools for use with surgical robotic manipulators

A tool assembly comprising:

• an energy applicator including a shaft having an axial-force receiving surface;
• a sheath assembly disposed on the shaft, the sheath assembly including an identification tag;
• a tool assembly removably couplable to the energy applicator, the tool comprising:
• a support structure to support the energy applicator;
• an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state;
• a drive system coupled to the support structure to rotatably drive the shaft of the energy applicator about an axis;
• an identification tag reader;
• and
• a collet assembly cooperating with the axial connector assembly and configured to apply a force to the axial-force receiving surface of the energy applicator in the locked state to axially direct the identification tag into range of the identification tag reader.

A tool assembly for use with an energy applicator having a shaft extending along an axis between a proximal end and a distal end, the shaft having an axial-force receiving surface and an identification tag, the tool assembly comprising:

• a support structure to support the energy applicator;
• an axial connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state;
• a drive system coupled to the support structure to rotatably drive the shaft of the energy applicator about the axis;
• an identification tag reader;
• and
• a collet assembly cooperating with the axial connector assembly and configured to apply a force to the axial-force receiving surface of the energy applicator when the axial connector assembly engages and releasably locks the energy applicator to the support structure in the locked state to axially direct the identification tag into range of the identification tag reader.