Systems and tools for use with surgical robotic manipulators

A protective sheath assembly for use with a tool assembly and an energy applicator extending from the tool assembly, the protective sheath assembly comprising:

• a protective sheath configured to be releasably coupled to the tool assembly so that the protective sheath is arranged concentrically about a shaft of the energy applicator;
• a radio frequency (RF) tag fixed to the protective sheath, the radio frequency (RF) tag configured to store data related to the protective sheath;
• and
• a bearing supported in the protective sheath such that the bearing is releasable, along with the protective sheath, from the tool assembly.

A tool comprising:

• an energy applicator including a shaft extending along an axis between a proximal end and a distal end;
• a tool assembly comprising:
• a support structure to support the energy applicator;
• and
• a connector assembly arranged to engage and releasably lock the energy applicator to the support structure in a locked state;
• a protective sheath releasably coupled to the tool assembly, wherein the protective sheath is arranged concentrically about the shaft of the energy applicator between the distal end of the shaft and the connector assembly;
• a radio frequency (RF) tag fixed to the protective sheath, the radio frequency (RF) tag configured to store data related to the protective sheath;
• and
• a bearing supported in the protective sheath such that the bearing is releasable, along with the protective sheath, from the tool assembly.