# US 2013/0158542 A1 · Surgical systems with robotic surgical tool having pluggable end-effectors > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0158542 A1 - Document ID: US20130158542A1 - Status: Published application - Kind: A1 - Application number: 13/768,895 - Filed: 2013-02-15 - Published: 2013-06-20 - Earliest claimed: 2001-04-19 - Assignees: Intuitive Surgical Operations, Inc. - Inventors: Scott E. MANZO; Lisa W. HEATON - Web page: https://patentgrep.com/patent/US20130158542A1 ## CPC - A61B 18/14: Probes or electrodes therefor - A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod} - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/2945: {Curved jaws} - A61B 2018/00083: {low, i.e. electrically insulating} - A61B 2018/1432: {curved} - A61B 2018/146: {Scissors} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B 2034/715: {Cable tensioning mechanisms for removing slack} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector cartridge may further include a fastener to rotatably couple the end effectors together. ## Claims ### Claim at position 1 1-17. (canceled) ### Claim 18 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, the interface base having a first control spool and a second control spool, a shaft having a first end coupled to the interface base, a first rotatable receptacle and a second rotatable receptacle, a first pluggable moveable end effector to selectively couple to and selectively decouple from the first rotatable receptacle, the first pluggable moveable end effector formed of a conductive material and responsive to a first control cable wrapped around the first control spool, a second pluggable moveable end effector to selectively couple to and selectively decouple from the second rotatable receptacle, the second pluggable moveable end effector formed of a conductive material and responsive to a second control cable wrapped around the second control spool, and a first wire having a first end coupled to the electrical connector and a second end to electrically couple to the first pluggable moveable end effector, the first wire to couple current to tissue through the first pluggable moveable end effector. ### Claim 19 (depends on 18) The robotic surgical system of claim 18, wherein the first receptacle and the second receptacle are electrically isolated, the first pluggable moveable end effector and the first pluggable moveable end effector are electrically isolated, and the robotic surgical tool further includes a second wire having a first end coupled to the electrical connector and a second end to electrically couple to the second pluggable moveable end effector, the second wire to couple current to tissue through the second pluggable moveable end effector. ### Claim 20 (depends on 18) The robotic surgical system of claim 18, wherein but for an electrical contact, the first receptacle and the second receptacle are formed of an insulative material to receive the first and second pluggable moveable end effectors and electrically isolate the first and second pluggable moveable end effectors from the shaft and the interface base. ### Claim 21 (depends on 18) The robotic surgical system of claim 18, wherein the robotic surgical tool further includes a mechanical wrist coupled between the shaft and the first and second rotatable receptacles, the mechanical wrist having a first pulley coupled to the first rotatable receptacle and a second pulley coupled to the second rotatable receptacle, the first pulley coupled to the first control cable from the interface base to control movement of the first rotatable receptacle and first pluggable moveable end effector, the second pulley coupled to the second control cable from the interface base to control movement of the second rotatable receptacle and second pluggable moveable end effector. ### Claim 22 (depends on 18) The robotic surgical system of claim 18, wherein each of the first rotatable receptacle and the second rotatable receptacle includes a cavity to receive a spring latch and a base portion of the pluggable moveable end effector; an electrical contact in the cavity with a catch to couple into a retention slot in the spring latch of the pluggable moveable end effector, a first engagement feature on a first side of the cavity to hold a first side of the pluggable moveable end effector; a first engagement feature on a second side of the cavity to hold a second side of the pluggable moveable end effector; and a pin opening to couple to a drive pin of a pulley. ### Claim 23 (depends on 22) The robotic surgical system of claim 22, wherein the electrical contact further has a first alignment edge to couple to the first side of the pluggable moveable end effector and a second alignment edge to couple to the second side of the pluggable moveable end effector. ### Claim 24 (depends on 18) The robotic surgical system of claim 18, wherein the robotic surgical tool further includes a mechanical wrist coupled between the shaft and the first and second rotatable receptacles, wherein the mechanical wrist includes a wristed receptacle coupled to a first joint, and the wristed receptacle includes the first rotatable receptacle and the second rotatable receptacle. ### Claim 25 (depends on 18) The robotic surgical system of claim 18, wherein the first rotatable receptacle is a first half receptacle, the second rotatable receptacle is a second half receptacle, and the robotic surgical tool further includes a mechanical wrist coupled between the shaft and the first and second rotatable receptacles, wherein the mechanical wrist includes a wristed receptacle coupled to a first joint, and the wristed receptacle includes the first half receptacle and the second half receptacle. ### Claim at position 10 26-29. (canceled)