US Patent 11246670 Modular surgical robotic tool

A robotic surgical arm can include a puck containing motors to drive an end effector. A tool assembly attached to the puck generates ultrasonic and/or radio frequency energy to apply between the jaws of the end effector. The tool assembly can include modular components such as a modular shaft that can include an ultrasonic transducer, nonvolatile memory, wireless interface, and/or a power source. The power source allows the tool assembly and modular shaft to communicate wirelessly with the robotic arm.