Wristed robotic tool with replaceable end-effector cartridges

A robotic surgical tool comprising:

• a pair of end effectors rotatingly coupled together at a pivot point, a first end effector of the pair of end effectors being a moveable end effector to pivot about the pivot point open and closed with respect to a second end effector of the pair of end effectors;
• a cam mechanism coupled to an end of at least the first end effector to pivot the first end effector about the pivot point, the cam mechanism to translate a linear motion into the pivotal motion of the first end effector;
• an actuation mechanism to couple to the cam mechanism to control the pivotal motion of the first end effector about the pivot point;
• a shaft having a distal end to extend the pair of end effectors into a surgical site;
• an interface base coupled to a proximal end of the shaft, the interface base to couple to a robotic slave, the interface base including a first spool to control at least the first end effector;
• and
• a first cable routed in the shaft between the actuation mechanism and the interface base, the first cable coupled to the actuation mechanism and the first spool to control the pivotal motion of at least the first end effector.

A robotic surgical system including:

• an electrical generator to generate an electrical current;
• and
• a robotic surgical tool having an electrical connector to couple to the electrical generator to receive the electrical current, the robotic surgical tool further comprising:
• an interface base coupled to the electrical connector,
• a shaft having a first end coupled to the interface base,
• a replaceable end effector cartridge to selectively couple to a second end of the shaft and to selectively decouple from the second end of the shaft, the replaceable end effector cartridge formed of a conductive material and including at least one moveable end effector responsive to a control cable from the interface base, and
• a wire having a first end coupled to the electrical connector and a second end to electrically couple to the replaceable end effector cartridge, the wire to couple electrical current to tissue through the replaceable end effector cartridge.

A method comprising:

• coupling a replaceable end effector cartridge to a receptacle of a robotic surgical tool;
• translating a rotational motion into a linear motion;
• and
• pivoting an end effector of the replaceable end effector cartridge in response to the linear motion.