Robotic surgical tools, systems, and methods for preparing for and
performing robotic surgery include a memory mounted on the tool. The
memory can perform a number of functions when the tool is loaded on the
tool manipulator: first, the memory can provide a signal verifying that
the tool is compatible with that particular robotic system. Secondly, the
tool memory may identify the tool-type to the robotic system so that the
robotic system can reconfigure its programming. Thirdly, the memory of the
tool may indicate tool-specific information, including measured
calibration offsets indicating misalignment of the tool drive system, tool
life data, or the like. This information may be stored in a read only
memory (ROM), or in a nonvolatile memory which can be written to only a
single time. The invention further provides improved engagement structures
for coupling robotic surgical tools with manipulator structures.
