Multiple end effector interfaces coupled with different kinematics

A robotic surgical system, comprising:

• a robot arm comprising a plurality of links and joints arranged between a proximal end and a distal end of the robot arm;
• a distal end mount flange rotationally connected to a furthest link from the proximal end of the robot arm at a furthest joint from the proximal end of the robot arm, the distal end mount flange configured to rotate about a rotation axis of the furthest joint;
• and
• an end effector affixed to the distal end mount flange via a kinematic attachment interface disposed between the distal end mount flange and the end effector, wherein the kinematic attachment interface fixedly arranges the end effector in one of at least two positions relative to the distal end mount flange, a first position of the at least two positions orienting a surgical tool axis of the end effector at a first angle relative to the rotation axis, and a second position of the at least two positions orienting the surgical tool axis of the end effector at a second angle relative to the rotation axis, wherein, in the first position, the surgical tool axis of the end effector is arranged parallel to the rotation axis such that the surgical tool axis of the end effector and the rotation axis are arranged in a common plane together, and wherein, in the second position, the surgical tool axis of the end effector is arranged perpendicular to the rotation axis such that the surgical tool axis of the end effector and the rotation axis are not arranged in the common plane together.

A system, comprising:

• a surgical robot, comprising:
• a robot arm comprising a proximal end and a distal end;
• a mount flange rotationally connected to the robot arm at the distal end along a rotation axis;
• and
• an end effector interconnected to the mount flange via an attachment interface disposed between the mount flange and the end effector, wherein the attachment interface fixedly arranges the end effector in one attached position of at least two positions, a first position of the at least two positions orienting a surgical tool axis of the end effector at a first angle relative to the rotation axis, and a second position of the at least two positions orienting the surgical tool axis of the end effector at a second angle relative to the rotation axis, wherein the second angle is different from the first angle, wherein, in the first position, the surgical tool axis of the end effector is arranged parallel to the rotation axis such that the surgical tool axis of the end effector and the rotation axis are arranged in a common plane together, and wherein, in the second position, the surgical tool axis of the end effector is arranged perpendicular to the rotation axis such that the surgical tool axis of the end effector and the rotation axis are not arranged in the common plane together;
• a processor coupled with the surgical robot;
• and
• a memory coupled with and readable by the processor and storing therein instructions that, when executed by the processor, cause the processor to:
• determine the one attached position of the end effector relative to the mount flange of the surgical robot;
• determine a movement profile for a surgical tool mounted to the end effector that is associated with the one attached position determined;
• and
• move the robot arm and the mount flange of the surgical robot according to the movement profile determined.