Surgical robotic tools, data architecture, and use

A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:

• a probe having a proximal end and a distal end;
• a surgical end effector disposed adjacent the distal end of the probe;
• an interface disposed adjacent the proximal end of the probe, the interface releasably coupleable with the tool holder,
• circuitry mounted on the probe, the circuitry transmitting a signal via the interface to the processor so as to indicate a tool-type of the tool;
• and
• at least one joint disposed between the interface and end effector, the joint defining a joint axis geometry, and wherein the signal indicates the joint geometry of the tool to the processor.

A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:

• a probe having a proximal end and a distal end;
• a surgical end effector disposed adjacent the distal end of the probe;
• an interface disposed adjacent the proximal end of the probe, the interface releasably coupleable with the tool holder;
• circuitry mounted on the probe, the circuitry transmitting a signal via the interface to the processor so as to indicate a tool-type of the tool;
• and
• wherein the end effector has a strength, and wherein the signal indicates the strength of the end effector to the processor.

A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:

• a probe having a proximal end and a distal end;
• a surgical end effector disposed adjacent the distal end of the probe;
• an interface disposed adjacent the proximal end of the probe, the interface comprising a portion of a drive system that is releasably coupleable with driving motors of the robotic surgical system;
• and
• circuitry mounted on the probe, the circuitry defining a signal for transmitting to the processor so as to indicate compatibility of the tool with the system;
• wherein the end effector defines a field of view, the probe comprising an image capture device.

A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:

• a probe having a proximal end and a distal end;
• a surgical end effector disposed adjacent the distal end of the probe;
• an interface disposed adjacent the proximal end of the probe, the interface comprising a portion of a drive system that is releasably coupleable with driving motors of the robotic surgical system;
• and
• circuitry mounted on the probe, the circuitry defining a signal for transmitting to the processor so as to indicate compatibility of the tool with the system;
• wherein the probe comprises an elongate shaft suitable for distal insertion via a minimally invasive aperture to an internal surgical site of a patient body, and wherein the end effector is adapted for manipulating tissue, and further comprising a wrist joint coupling the end effector to the shaft for varying an orientation of the end effector within the internal surgical site.

A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:

• a probe having a proximal end and a distal end;
• a surgical end effector disposed adjacent the distal end of the probe;
• an interface disposed adjacent the proximal end of the probe, the interface comprising a portion of a drive system that is releasably coupleable with the tool holder;
• circuitry mounted on the probe, the circuitry defining a signal for transmitting to the processor so as to indicate compatibility of the tool with the system;
• and
• a sterile adapter releasably mountable 10 the tool holder, the adapter configured to couple the tool holder to the interface, wherein the circuitry transmits the signal to the processor of the robotic surgical system via the adapter.