Robot controllable medical system with multifunctional end effector with rotational offset

摘要

The robotically controllable medical system can include a multifunctional end effector.The multifunctional end effector may be configured to perform at least two functions.The two functions may be rotated offset relative to each other.The rotation offset can allow a robotically controllable system to operate a multifunctional end effector in multiple modes.At least some of the modes can disable access to one or more functions of the end effector.