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|1. (WO2017155931) ROBOTIC BI-POLAR INSTRUMENTS|
|Inventors:||FELDER, Kevin D.
BRUEHWILER, Michel G.
YASEVAC, Daniel J.
|Title:||ROBOTIC BI-POLAR INSTRUMENTS|
Various exemplary systems, devices, and methods for robotic bi-polar instruments are provided. In general, a surgical tool can include an elongate shaft, an end effector, a wrist that couples the end effector to the shaft at a distal end of the shaft, and a tool housing coupled to a proximal end of the shaft that is configured to control the operation various features associated with the end effector and to operatively couple to a robotic surgical system.