Robotic surgical tools with latching mechanism

A robotic surgical system comprising:

• a robotic manipulator comprising a mounting fixture;
• a robotic surgical tool removably coupled to the mounting fixture, the robotic surgical tool comprising:
• a tool housing;
• an elongate shaft coupled to and extending from the tool housing, the elongate shaft further defining a lumen that extends between a proximal end and a distal end of the elongate shaft;
• and
• a latching mechanism arranged on the elongate shaft and comprising one or more retention tabs that are biased radially outward with one or more biasing members;
• wherein the one or more retention tabs are movable between a deployed state, in which the one or more retention tabs extend radially outward from the elongate shaft and are positioned to engage an exterior surface of a mounting fixture of the robotic manipulator, and a retracted state, in which the one or more retention tabs are urged radially inward and are positioned to disengage the exterior surface of the mounting fixture.

A method comprising:

• inserting an elongate shaft of a robotic surgical tool through a channel defined in a mounting fixture of a robotic manipulator, the robotic surgical tool comprising a latching mechanism arranged on the elongate shaft, a tool housing coupled to a proximal end of the elongate shaft, and an end effector coupled to a distal end of the elongate shaft, a lumen being defined in the elongate shaft and extending between the proximal end and the distal end;
• passing the latching mechanism through the channel while inserting the elongate shaft;
• deploying one or more retention tabs radially outward from the latching mechanism once the latching mechanism passes through the channel;
• wherein the one or more retention tabs are biased radially outward with one or more biasing members;
• and
• engaging the one or more retention tabs against an exterior surface of the mounting fixture once deployed.