US Patent 11877788 Electrosurgical apparatus with robotic tip

An electrosurgical apparatus including a robotic tip is provided. The electrosurgical apparatus includes a plurality of actuators and hinging members. The robotic tip includes a retractable electrode. The actuators are coupled to the hinging members via a plurality of pulling mechanisms, such that, one or more of the actuators is rotated to selectively pull one or more of the plurality of pulling mechanisms to pivot and rotate the robotic tip and/or extend and retract the electrode. The electrode is coupled to a gas source and an energy source, such that, the electrode can produce plasma for use in surgical applications.