Patent Publication Number: US-2020297373-A1

Title: End effector of a surgical robotic manipulator including a grip sensing mechanism for manual operation of the end effector

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 15/404,416, filed on Jan. 12, 2017, which is a continuation of U.S. patent application Ser. No. 14/214,703, filed on Mar. 15, 2014, which claims priority to and all the benefits of U.S. Provisional Patent Application No. 61/798,729 filed on Mar. 15, 2013, each of the aforementioned applications being hereby incorporated by reference in their entirety. 
    
    
     FIELD OF THE INVENTION 
     The present disclosure relates to an end effector and a grip sensing mechanism of the end effector for manual operation of the end effector. 
     SUMMARY 
     This Summary introduces a selection of concepts in a simplified form that are further described below in the Detailed Description below. This Summary is not intended to limit the scope of the claimed subject matter and does not necessarily identify each and every key or essential feature of the claimed subject matter. 
     In one aspect, an end effector is provided for use with a surgical robotic manipulator including a linkage assembly and a cutting accessory for cutting tissue of a patient. The end effector comprises: a handle; an actuator disposed within the handle for driving the cutting accessory; a nose tube coupled to the handle and extending along an axis and configured for receiving the cutting accessory; a mounting fixture configured for coupling the end effector to the linkage assembly of the surgical robotic manipulator; a lever supported by the handle and being moveable relative to the handle between a depressed position and a released position; a sensor coupled to the nose tube; and an activator moveable relative to the sensor between a first position and a second position in response to movement of the lever between the depressed position and the released position; and wherein, in response to the lever being in the depressed position, the activator is in the first position and the sensor is spaced from the activator by a first distance such that the sensor is configured to interact with the activator to cause activation of the actuator; and wherein, in response to the lever being in the released position, the activator is in the second position and the sensor is spaced from the activator by a second distance to cause deactivation of the actuator. 
     In another aspect, an end effector is provided for use with a surgical robotic manipulator and a cutting accessory for cutting tissue of a patient. The end effector comprises: an actuator for driving the cutting accessory; a nose tube extending along an axis and configured for receiving the cutting accessory; a mounting fixture configured for coupling the end effector to the surgical robotic manipulator; a handle supported about the axis of the nose tube; a lever coupled to the handle being moveable between a depressed position and a released position; and a sensor supported by the nose tube and configured to sense the lever in the depressed position and the released position, wherein the actuator is activated for driving the cutting accessory in response to the sensor sensing the lever in the depressed position; and wherein the handle is configured to rotate relative to the nose tube and about the axis of the nose tube. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Other advantages of the present invention will be readily appreciated, as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein: 
         FIG. 1  is a perspective view of a robotic system including a manipulator having an end effector performing a surgical procedure on a patient; 
         FIG. 2  is a perspective view of the manipulator; 
         FIG. 3  is a perspective view of a portion of the end effector with a cutting accessory engaged with the end effector; 
         FIG. 4  is a perspective view of the end effector of  FIG. 3  without the cutting accessory; 
         FIG. 5  is a cross-sectional view along line  5  in  FIG. 3 ; 
         FIG. 6  is a magnified view of a portion of  FIG. 5 ; 
         FIG. 7  is a perspective view of the cutting accessory; 
         FIG. 8  is a cross-sectional view along line  8  in  FIG. 7 ; 
         FIG. 9  is a magnified view of a portion of  FIG. 8 ; 
         FIG. 10  is a perspective view of a tool of the cutting accessory; 
         FIG. 11  is an exploded view of the tool including a shaft and an end piece; 
         FIG. 12  is a perspective view of the end piece; 
         FIG. 13  is a side view of the end piece; 
         FIG. 14  is an end view of the end piece; 
         FIG. 15  is a perspective view of a shroud of the cutting accessory; 
         FIG. 16  is a cross-sectional view of the shroud; 
         FIG. 17  is a perspective view of a nose tube of the end effector; 
         FIG. 18  is an exploded view of the nose tube; 
         FIG. 19  is a cross-sectional view along line  19  in  FIG. 17 ; 
         FIG. 20  is a magnified view of a portion of  FIG. 5 ; 
         FIG. 21  is the cross-sectional view of  FIG. 20  with a barrel of an axial connector in a release position; 
         FIG. 22  is an exploded view of the axial connector; 
         FIG. 23  is a partially exploded view of the axial connector with the barrel exploded from the nose tube; 
         FIG. 24  is a perspective view of another embodiment of the cutting accessory and another embodiment of the axial connector supported on the nose tube; 
         FIG. 25  is a cross-sectional view of a portion of the cutting accessory of  FIG. 24 ; 
         FIG. 26  is an exploded view of the axial connector and a portion of the nose tube of  FIG. 24 ; 
         FIG. 27  is a partially exploded view of the axial connector of  FIG. 24 ; 
         FIG. 28  is a cross-sectional view of the axial connector and a portion of the nose tube of  FIG. 24 ; 
         FIG. 29  is another cross-sectional view of the axial connector and a portion of the nose tube of  FIG. 24 ; 
         FIG. 30  is a cross-sectional view of the cutting accessory assembled to a portion of the nose tube of  FIG. 24 ; 
         FIG. 31  is a cross-sectional view of the cutting accessory assembled to the nose tube of  FIG. 24 ; 
         FIG. 32  is a perspective view of a guard for the cutting accessory; 
         FIG. 33  is an exploded view of the guard; 
         FIG. 34A  is a cross-sectional view of an outer member of the guard; 
         FIG. 34B  is a cross-sectional view of an inner member of the guard; 
         FIG. 35  is a perspective view of the cutting accessory and the guard covering a portion of the cutting accessory; 
         FIG. 36  is a cross-sectional view of the guard and the cutting accessory along line  28  in  FIG. 35 ; 
         FIG. 37  is a cross-sectional view of the guard and the cutting accessory along line  29  of  FIG. 35 ; 
         FIG. 38  is a cross-sectional view of the guard engaging the axial connector to release the cutting accessory from the nose tube; 
         FIG. 39  is a perspective view of a drive system of the end effector; 
         FIG. 40  is a cross-sectional view along line  32  of  FIG. 39 ; 
         FIG. 41  is a perspective view of a portion of the drive system; 
         FIG. 42  is an exploded view of a portion of the drive system including a drive connector; 
         FIG. 43  is a cross-sectional view along line  35  in  FIG. 41 ; 
         FIG. 44  is a perspective view of a drive member; 
         FIG. 45  is a cross-sectional view along line  37  of  FIG. 44 ; 
         FIG. 46  is a perspective view of a socket; 
         FIG. 47  is a perspective view of a wedge sleeve of the drive connector; 
         FIG. 48  is a perspective view of a portion of a clutch assembly of the drive connector; 
         FIG. 49  is an end view of the portion of the clutch assembly of the drive connector shown in  FIG. 48 ; 
         FIG. 50  is a perspective view of a cage of the clutch assembly; 
         FIG. 51  is a perspective view of a roller of the clutch assembly; 
         FIG. 52  is a perspective view of the drive connector disposed in the socket of the drive member; 
         FIG. 53  is an end view of  FIG. 52 ; 
         FIG. 54  is the end view of  FIG. 53  with the shaft of the tool engaged with the drive connector when the shaft is initially inserted into the drive connector; 
         FIG. 55  is the end view of  FIG. 53  with the shaft of the tool engaged with the drive connector and with the drive member delivering rotation to the shaft; 
         FIG. 56  is a perspective view of a cartridge; 
         FIG. 57  is an exploded view of the cartridge including a dynamic seal; 
         FIG. 58  is a cross-sectional view of the cartridge engaged with drive member; 
         FIG. 59  is a perspective view of a handle on the nose tube; 
         FIG. 60  is an exploded view of the handle and the nose tube; 
         FIG. 61  is a cross-sectional view of the handle and the nose tube; 
         FIG. 62  is a cross-sectional view of the handle; 
         FIG. 63  is a partially exploded view of a lever and the handle; 
         FIG. 64  is a partially exploded view of a portion of a grip sensing mechanism of a first embodiment; 
         FIG. 65  is a partially exploded view of the grip sensing mechanism and the handle; 
         FIG. 66  is a cross-sectional view of the grip sensing mechanism and the handle with the lever in a released position; 
         FIG. 67  is a cross-sectional view of the grip sensing mechanism and the handle with the lever in a depressed position; 
         FIG. 68  is a perspective view of a portion of the grip sensing mechanism with an activator holder in a spaced position relative to the sensor holder; 
         FIG. 69  is the perspective view of  FIG. 60  with the activator holder in a proximate position relative to the sensor holder; 
         FIG. 70  is a partially exploded view of another embodiment of the grip sensing mechanism exploded from the handle; 
         FIG. 71  is a partially exploded view of the grip sensing mechanism of  FIG. 62 ; 
         FIG. 72  is a perspective view of a portion of the grip sensing mechanism of  FIG. 62  with the activator holder in a spaced position relative to the sensor holder; 
         FIG. 73  is another perspective view of a portion of the grip sensing mechanism of  FIG. 70 ; 
         FIG. 74  is a cross-sectional view of the grip sensing mechanism and the handle with the lever in a released position; 
         FIG. 75  is a cross-sectional view of the grip sensing mechanism and the handle with the lever in a depressed position; 
         FIG. 76  is a perspective view of a portion of the grip sensing mechanism with an activator holder in a spaced position relative to the sensor holder; 
         FIG. 77  is the perspective view of  FIG. 76  with the activator holder in a proximate position relative to the sensor holder; 
         FIG. 78  is a perspective view of a portion of the end effector including a gear box; 
         FIG. 79  is a cross-sectional view along line  71  in  FIG. 78 ; 
         FIG. 80  is an exploded view of the gear box; 
         FIG. 81  is a perspective view of the components in the gear box; 
         FIG. 82  is a perspective view of a base of the gear box; 
         FIG. 83  is a perspective view of a cover of the gear box; 
         FIG. 84  is a cross-sectional view of the guard with a wireless communication element; 
         FIG. 85  is a cross-sectional view of the guard of  FIG. 76  disposed on the nose tube; 
         FIG. 86  is a cross-section of the cutting accessory including a wired communication element; 
         FIG. 87  is a perspective view of the shroud including a connector; 
         FIG. 88  is a perspective view of an end of the nose tube including a connector; and 
         FIG. 89  is a cross-sectional view of the shroud of  FIG. 86  connected to the nose tube of  FIG. 88 . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     I. Overview 
     With reference to  FIGS. 1 and 2 , a robotic surgical manipulator  10  includes an end effector  12 . The manipulator  10  is part of a robotic system  11 . The robotic system  11 , for example, is a surgical robotic system as shown in  FIGS. 1 and 2  and operates as set forth further below. 
     The end effector  12  is shown, for example, in  FIGS. 3-5 . The end effector  12  includes a surgical instrument  14 . The manipulator  10  moves to apply the surgical instrument  14  to a patient  16 . Specifically, the manipulator  10  moves to position and orient the surgical instrument  14  so that the surgical instrument  14  performs the intended medical/surgical procedure on the patient. 
     The robotic system  11  is used in conjunction with a surgical navigation system  18 . The surgical navigation system  18  monitors the position of the end effector  12  and the patient  16 . Based on this monitoring, the surgical navigation system  18  determines the position of the surgical instrument  14  relative to a site on the patient to which the instrument  14  is applied. 
     With continued reference to  FIGS. 1 and 2 , the robotic system  11  includes a mobile cart  20 . The manipulator  10  includes a linkage assembly  22  that moveably connects the end effector  12  to the cart  20 . Specifically, the end effector  12  includes a mounting fixture  36  connected to the linkage assembly  22 . 
     The linkage assembly  22 , for example, comprises a first parallel four bar link assembly  24  and a second parallel four bar link assembly  26 . The position of each joint of each link assembly  24 ,  26  is set by an actuator  28 . In  FIG. 1 , housings of the actuators  26  are identified. Each actuator  24 ,  26  is associated with a separate one of the link assemblies  24 ,  26 . 
     A processor, referred to as manipulator controller  30 , (partially shown as a phantom box in  FIG. 1 ) is mounted to the cart  20 . The manipulator controller  30  asserts the control signals that cause the actuators  28  to appropriately set the links of the link assemblies  24 ,  26 . The manipulator controller  30  sets the positions of the links of the link assemblies  24 ,  26  based on a number of input signals. These signals include signals data from the surgical navigation system  18 . These data provide information regarding the position of the instrument  14  relative to the surgical site to which the instrument  14  is applied. 
     The manipulator controller  30  selectively sets the position of the links of the link assemblies  24 ,  26  based on the forces and torques applied to the surgical instrument  14 . These forces and torques are measured by a force/torque sensor (not numbered). The structure of the manipulator  10 , including the manipulator controller  30 , are set forth in more detail is U.S. Provisional Patent Application No. 61/679,258, entitled, “Surgical Manipulator Capable of Controlling a Surgical Instrument in either a Semi-Autonomous Mode or a Manual, Boundary Constrained Mode”, the disclosure of which is hereby incorporated by reference. 
     The robotic system  11  can be operable in a manual mode. When the robotic system  11  operates in the manual mode, the robotic system  11  responds to force and torque that the operator asserts on the end effector  12  to position the instrument  14 . In response to this force and torque, the linkage assembly  22  mechanically moves the instrument  14  in a manner that emulates the movement that would have occurred based on the force and torque applied by the operator. As the instrument  14  moves, the surgical robotic system  11  and surgical navigation system  18  cooperate to determine if the instrument is within a defined boundary. This boundary is within the patient and the navigation system  18  is configured to prevent the instrument  14  from operating outside of the defined boundary. Based on this data, the robotic system  11  selectively limits the movement of the linkage assembly  22 , and thus the instrument  14 . Specifically, the linkage assembly  22  constrains movement of the instrument  14  that would otherwise result in the application of the instrument  14  outside of the defined boundary. If the operator applies force and torque that would result in the advancement of the instrument  14  beyond the defined boundary, the linkage assembly  22  does not emulate this intended positioning of the instrument  14 . 
     The robotic system  11  can be operable in a semi-autonomous mode. To operate the robotic system  11  in the semi-autonomous mode, a path of travel of the instrument  14  through tissue is generated. At least the basic version of this path is generated prior to the start of the procedure. The linkage assembly  22  advances the instrument  14  based on the generated path. When the instrument  14  is operated in the semi-autonomous mode, the linkage assembly does not advance the instrument  14  beyond the defined boundary. 
     The surgical instrument  14  is an instrument that the operator controls to perform the intended medical/surgical procedure. In some embodiments, the surgical instrument  14  includes a power generating unit that converts electrical signals into a form of energy that is applied to the patient. This energy may be mechanical, ultrasonic, thermal, RF, EM or photonic. When the surgical instrument  14  includes a power generating unit, the energy is applied to the surgical site through an energy applicator that extends from the surgical instrument  14 . In the representative embodiment shown in the Figures, the surgical instrument  14  includes a cutting accessory  32  and an actuator  34  coupled to the cutting accessory  32  for driving the cutting accessory  32 . 
     II. Cutting Accessory 
     The cutting accessory  32  is removably engaged with the rest of the end effector  12 .  FIGS. 3, 5, and 6 , for example, show the cutting accessory  32  engaged with the rest of the end effector  12  and  FIG. 4  shows the end effector  12  without the cutting accessory  32 . The tool  38  is configured to remove tissue from target tissue of the patient. As shown in the Figures, the tool  38 , for example, is a bur. In the alternative to a bur, the tool  38  can be any type of surgical tool for material cutting and/or material removal in the surgical site. 
     With reference to  FIGS. 7-9 , the cutting accessory  32  includes a tool  38  and a shroud  40 ,  140  coupled to the tool  38 . Specifically, the cutting accessory  32  including one embodiment of the shroud  40  is shown in  FIGS. 7-9  and, alternatively, the cutting accessory  32  including another embodiment of the shroud  140  is shown in  FIGS. 24-25 . 
     With reference to  FIGS. 10-14 , the tool  38  includes a shaft  42 , extending along a tool axis T between a proximal end  44 , i.e., a free end  44 , and a distal end  46 , and an end piece  48  fixed to the distal end  46  of the shaft  42 . The shroud  40 ,  140  is rotatably coupled to the shaft  42 . The tool  38  is typically 50-200 mm long. For example, the tool  38  can be 160 mm long. The shaft  42  of the tool  38  is typically 2.5-6.0 mm in diameter. For example, the shaft  42  can be 4 mm in diameter. 
     The tool  38  includes a cutting tip  50  for cutting target tissue of the patient  16 . Specifically, the end piece  48  presents the cutting tip  50 . 
     The end piece  48 , for example, defines a cavity  52  that receives the distal end  46  of the shaft  42 . The end piece  48  can be fixed to the shaft  42  in any fashion such as, for example, friction fit, adhesive, snap-ring, welding, etc. Alternatively, for example, the end piece  48  is integrally formed with the shaft  42 , i.e., the end piece  48  and the shaft  42  are formed together as a unitary part. 
     The end piece  48  defines threads  54  adjacent the tool  38 . The threads  54 , along with an end of the end effector  12 , create an Archimedean screw for pushing debris, e.g., cut tissue, bodily liquid, and/or irrigation liquid, away from the end effector  12 . 
     The tool  38  shown in the Figures is a bur, as set forth above, and the cutting tip  50  of the bur is a cutting head  72 . The cutting head  72  can be of any size, shape, and configuration without departing from the nature of the present invention. 
     The shroud  40 ,  140  is rotatably engaged to the tool  38  and is axially fixed relative to the tool  38  along the tool axis T. The shroud  40  is rotatable about the tool axis T. 
     With reference to  FIGS. 8 and 9 , a bearing  56  is disposed between the tool  38  and the shroud  40 ,  140  and is fixed to the tool  38  and to the shroud  40 ,  140  along the tool axis T. Specifically, the bearing  56  defines a bore  58 . The bearing  56  receives the shaft  42  in the bore  58  and is connected to the shaft  42  with a friction fit, i.e., an inner diameter of the bore  58  and the outer diameter of the shaft  42  are sized and shaped such that the bearing  56  is secured to the shaft  42  by friction between the inner diameter of the bearing  56  and the outer diameter of the shaft  42 . The friction fit is typically accomplished by pressing the bearing  56  onto the shaft  42 . The shroud  40 ,  140  receives the bearing  56  and is connected to the bearing  56  with a friction fit. Specifically, the shroud  40 ,  140  defines an inside surface  60  and an outside diameter of the bearing  56  is friction fit to the inside surface  60 . 
     With reference to  FIGS. 15 and 16 , the shroud  40  is generally cylindrical in shape. The shroud  40  includes a body portion  62 , i.e., a base  62 , that presents the inside surface  60 . At least one finger  64  extends from the body portion  62 . The shroud  40  shown in the Figures, for example, includes several fingers  64  that extend from the body portion  62 . The fingers  64  are circumferentially spaced from each other about the tool axis T. The fingers  64  each include a tip  66  that tapers, e.g., angles inwardly toward the tool axis T. The fingers  64  are flexible relative to the body portion  62 , as discussed further below. 
     With reference to  FIGS. 24 and 25 , the shroud  140  presents an inside surface  160  and a groove  161  along the inside surface  160 . The groove  161  typically extends circumferentially about the inside surface  160 . 
     With reference to  FIGS. 32-38 , the cutting accessory  32  includes a guard  68 . The guard  68  covers the cutting tip  50  while the cutting accessory  32  is being handled  300  and/or when the cutting accessory  32  is mounted to the end effector  12  and not in use. As set forth further below, the guard  68  can support identification features, e.g., a memory chip or RFID chip, to identify parameters of the cutting accessory  32  to the manipulator controller  30 . As also set forth below, the guard  68  can be configured to aid in engagement and disengagement of the cutting accessory  32  with respect to the end effector  12 . 
     The cutting accessory  32  is configured to receive liquid and deliver the liquid to the surgical site during cutting. The liquid typically flows through the tool  38 , e.g., the shaft  42  and the end piece  48 , to the surgical site. The liquid can serve several functions. For example, the liquid can cool the cutting tip and/or cools and irrigates the surgical site, can lubricate the interface between the cutting tip  50  and the tissue in contact with the cutting tip  50  to reduce heat production at the interface; can clear cut tissue and/or bodily fluid; and/or can cool the shaft  42  of the tool  38  to draw heat from bearings  104  in nose tube  100 . The liquid is, for example, an irrigation solution such as, for example, saline solution. Alternatively, the liquid can be of any type to cool and/or irrigate a surgical cutting accessory  32  and/or tissue in a surgical site without departing from the nature of the present invention. 
     With reference to  FIGS. 7 and 8 , the shaft  42  of the tool  38  defines a bore  70  that extends along the tool axis T for transferring the liquid. The liquid is delivered to bore  70  at the proximal end  44  of the tool  38 , as set forth further below, and the liquid flows from the proximal end  44  to the distal end  46 . 
     With reference to  FIGS. 9-14 , the cutting head  72  defines at least one port  74  in communication with the bore  70  of the shaft  42 . The cutting head  72  typically defines the cavity  52  between the bore  70  of the shaft  42  and the ports  74 . The ports  74  extend through the cutting head  72  to deliver the fluid from the bore  70  of the shaft  42  to the surgical site. The ports  74  extend relative to the tool axis T at an angle designed to deliver the fluid on the surgical site without spraying at staff in the operating room. The ports  74  also extend relative to the tool axis T at an angle designed to prevent the fluid from being aimed generally perpendicular to the surgical site to prevent cavitation at the surgical site caused by the fluid. For example, the ports  74  typically extend relative to the tool axis T at an angle of between 0° and 45°. The ports  74  typically have a diameter of 0.25 mm-0.50 mm. 
     III. End Effector 
     With reference to  FIGS. 17-31 , the end effector  12  includes a nose tube  100  that supports the cutting accessory  32  when the cutting accessory  32  is engaged with the end effector  12 . The nose tube  100  defines a nose tube bore  102  and receives the shaft  42  of the cutting accessory  32  in the nose tube bore  102 . The nose tube  100  releasably engages and rotatably supports the cutting accessory  32  in the nose tube bore  102 . Typically at least one bearing  104 , shown for example in  FIGS. 5, 6, and 20 , is disposed in the nose tube bore  102  and the bearing  104  is configured to receive and rotatably support the shaft  42  in the nose tube bore  102 . 
     The nose tube  100  is fixed relative to the mounting fixture  36 . The nose tube  100  extends along a nose tube axis N between a distal end  106 , i.e., a terminal end  106  along the tube axis N, and a proximal end  108  of the nose tube  100 . The nose tube  100  shown in the Figures includes a plurality of segments disposed along the nose tube axis N and the segments are fixed to one another. Alternatively, the nose tube  100  is formed of a single piece or is formed of any number of segments without departing from the nature of the present invention. 
     The end effector  12  includes an axial connector  110 ,  150  for axially engaging the cutting accessory  32  to the end effector  12  and a drive connector  112  for rotationally engaging the cutting accessory  32  to the end effector  12 . Specifically, one embodiment of the axial connector  110  is shown in  FIGS. 19-23  and another embodiment of the axial connector  150  is shown in  FIGS. 24-31 . The axial connector  110  of  FIGS. 19-23  is configured to releasably engage the embodiment of the cutting accessory  32  that includes the shroud  40 . The axial connector  150  of  FIGS. 24-31  is configured to releasably engage the embodiment of the cutting accessory  32  that includes the shroud  140 . 
     The axial connector  110 ,  150  is disposed along the nose tube axis N between the terminal end  106  and the drive connector  112 . The axial connector  110 ,  150  and the drive connector  112  are disposed about the nose tube axis N. 
     As set forth further below, the axial connector  110 ,  150  is supported by the nose tube  100  and is configured to lock the cutting accessory  32  relative to the nose tube  100  along the nose tube axis N. As also set forth further below, the drive connector  112  is configured to receive the cutting accessory  32  along the nose tube axis N and rotatably drive the cutting accessory  32 . 
     Typically, the axial connector  110 ,  150  and the drive connector  112  are spaced from each other along the nose tube axis N. For example, the axial connector  110 ,  150  is disposed at the distal end  106  of the nose tube  100  and the drive connector  112  is spaced from the axial connector  110 ,  150  along the nose tube axis N between the distal end  106  and the proximal end  108  of the nose tube  100 . Alternatively, the drive connector  112  and the axial connector  110 ,  150  can be adjacent each other along the tool axis T. The axial connector  110 ,  150  and the distal connector releasably engage the cutting accessory  32  to the end effector  12 . 
     The axial connector  110 ,  150  is supported by the nose tube  100  and releasably locks the cutting accessory  32  to the nose tube  100  along the nose tube axis N. The axial connector  110 ,  150  is releasably engaged with the shroud  40  of the cutting accessory  32 . The axial connector  110 ,  150  defines a bore  57  extending along the nose tube axis N and receiving the cutting accessory  32 . The cutting accessory  32  extends from the terminal end  106  of the nose tube  100  through the axial connector  110 ,  150  to the drive connector  112 . When the cutting accessory  32  is assembled to the nose tube  100 , the shroud  40  of the cutting accessory  32  extends along the nose tube axis N between a first end  47  proximate the cutting tip  50 , e.g., the bur shown in the Figures, and a second end  49  distal to the cutting tip  50 . The shaft  42  extends from the distal end  49  of the shroud  40  to the drive connector  112 . 
     With reference to the axial connector  110  shown in  FIGS. 19-21 , the axial connector  110  is typically coupled to the distal end  106  of the nose tube  100  and is moveable relative to the nose tube  100  between an extended position, i.e., a locked position, as shown in  FIGS. 19 and 20 , to retain the cutting accessory  32  and a retracted position, i.e., an unlocked position, as shown in  FIG. 21  to release the cutting accessory  32 . Specifically, the axial connector  110 ,  150  is moveable along the axis between the locked position and the unlocked position. 
     The axial connector  110 , for example, includes a barrel  114 , i.e., a ring  114 , slidably retained on the nose tube  100 . In other words, the barrel  114  is retained on the nose tube  100  and is slideable relative to the nose tube  100  between the extended position and the retracted position. Typically, the barrel  114  is rotatable about the tool axis T. The barrel  114  is typically cylindrical and receives the nose tube  100 . 
     The barrel  114  extends radially about the shroud  40  to pinch the shroud against the nose tube  100  when the cutting accessory  32  is engaged with the nose tube  100  and the axial connector  110  is in the locked position. In other words, in the extended position, the barrel  114  is engaged with the cutting accessory  32 , e.g., the shroud  40  of the cutting accessory  32 , to engage the cutting accessory  32  to the nose tube  100 . In the retracted position, the barrel  114  is disengaged with the cutting accessory  32  to release the cutting accessory  32  from the nose tube  100 . 
     With reference to  FIGS. 18-23 , the nose tube  100  includes a guide portion  116  that supports the axial connector  110 . For example, the nose tube  100  includes a guide portion  118  that presents the guide portion  116 . The barrel  114  and the guide portion  116  define engaging features to operably couple the barrel  114  to the guide portion  116  such that the barrel  114  is moveable along the guide portion  116  between the extended position and the retracted position. 
     For example, at least one engaging member  120  is engaged with the barrel  114  and the guide portion  116  to couple the barrel  114  and the guide portion  116 , as shown in  FIGS. 19-23 . The guide portion  116  of the nose tube  100  defines at least one channel  122  and the engaging member  120  is engaged with and moveable along the channel  122  between the extended position and retracted position. The channel  122  extends longitudinally along the nose tube axis N and typically extends through guide portion  116 . The nose tube  100  shown in the Figures includes four engaging members  120  engaged with four channels  122 , respectively. However, the axial connector  110  can include any number of engaging members  120  and corresponding channels  122 . 
     The engaging member  120  is, for example, a spherical ball engaged with the barrel  114  and with the channel of the guide portion  116  to couple the barrel  114  to the guide portion  118 . The barrel  114  defines a recess  124 , typically semi-spherical in shape, that receives the ball. The ball is rotatable in the recess  124  and is fixed to the barrel  114  along the tool axis T. The ball is engaged with the channel  122  of the guide portion  116  to guide movement of the barrel  114  along the channel, i.e., along the nose tube axis N. In the alternative to the ball, the engaging member  120  can be any type of feature to couple the barrel  114  to the guide portion such as, for example, pins, flanges, etc. 
     With reference to  FIGS. 19-22 , the axial connector  110  includes a biasing device  126 , e.g. a spring  126 , coupled to the barrel  114  and the biasing device  126  urges the barrel  114  toward the extended position. The barrel  114  is movable to the retracted position by applying force against the barrel  114  toward the retracted position sufficient to overcome the force exerted by the biasing device  126 , i.e., to compress the biasing device  126 . As shown in the Figures, for example, the biasing device  126  is disposed in the nose tube bore  102 . The biasing device  126  abuts bearing  104  in the nose tube bore  102 , as shown in  FIGS. 19-21 , to retain the biasing device  126  in position along the nose tube axis N. The biasing device  126  shown in the Figures is a coil spring. Alternatively, the biasing device  126  is any type of biasing device. 
     With continued reference to  FIGS. 19-22 , a plunger  128  is disposed between the biasing device  126  and the barrel  114  for coupling the biasing device  126  and the barrel  114 . Specifically, the plunger  128  is disposed in the nose tube bore  102  and is configured to slide relative to the nose tube  100  in the nose tube bore  102 . The engaging members  120 , e.g., balls, are disposed between the plunger  128  and the barrel  114  and the engagement members  120  contact the plunger  128 . The plunger  128  defines a tapering surface  130  receiving the engaging members  120 . The biasing device  126  abuts the plunger  128  between the bearing  56  and the plunger  128 . In the alternative to the plunger  128 , the barrel  114  and the biasing device  126  can be configured to be in direct contact. 
     With continued reference to  FIGS. 19-22 , the nose tube  100  defines a groove  132 , i.e., a recess  132 , near the distal end  106  of the nose tube  100  that extends circumferentially about the nose tube  100 . With reference to  FIGS. 19-21 , the groove  132  is defined in part by a ramped surface  134  that tapers away from the nose tube axis N. A sloped surface  136  extends from the ramped surface  134  toward the distal end of the nose tube  100  and tapers toward the nose tube axis N. When in the extended position, the barrel  114  is typically adjacent the groove  132 , i.e., aligned at least in part with the groove  132  along the nose tube axis N and disposed radially about at least a portion of the groove  132 . 
     With the use of the axial connector  110 , the cutting accessory  32  can be engaged with the end effector  12  without the use of a tool  38 , i.e., merely with the use of a hand of a human operator. The assembly of the cutting tool  38  to the end effector  12  can be a one-handed operation, i.e., accomplished with the use of a single hand of the human operator. The cutting tool  38  is assembled to the end effector  12  by inserting the cutting tool  38  into the nose tube bore  102  and exerting pressure on the cutting tool  38  along the nose tube bore  102  toward the nose tube  100  to engage the cutting tool  38  with the axial connector  110 . 
     Specifically, to assemble the cutting accessory  32  to the end effector  12 , the shaft  42  of the tool  38  is inserted into the nose tube bore  102 . As the shaft  42  is moved along the nose tube bore  102 , the shaft  42  is received by the bearing(s)  104  in the nose tube bore  102 . As set forth above, the fingers  64  of the shroud  40  are flexible relative to the body portion  62  of the shroud  40 . Typically, the fingers  64  slide along the sloped surface  136  and deform outwardly relative to the tool axis T along the sloped surface  136  as the shroud  40  approaches the barrel  114 . 
     As the shaft is moved along the nose tube bore  102 , the tips  66  of the fingers  64  abut the barrel  114  and push the barrel  114  toward the retracted position. Specifically, the fingers  64  and the barrel  114  include opposing surfaces  115  that oppose each other along the nose tube axis N as the cutting accessory  32  is engaged with the nose tube  100 . The opposing surfaces  115  are typically ramped. For example, the opposing surface  115  of each finger  64  is a ramped surface tapering radially inwardly in a direction from the first end  47  of the shroud  40  toward the second end  49  of the shroud  40  for contacting the nose tube  100  and flexing the fingers  64  during engagement of the cutting accessory  32  with the nose tube  100 . The opposing surface  115  of each finger  64  terminates at the second end  49  of the shroud  40 . 
     When the tips  66  of the fingers  64  reach the groove  132 , the tips  66  move inwardly toward the tool axis T into the groove  132  in the nose tube  100  and the barrel  114  returns to the extended position to lock the cutting accessory  32  to the nose tube  100 . In other words, the axial connector  110  engages the fingers  64  when the cutting accessory  32  is engaged with the nose tube  100  and the axial connector  110  is in the extended position. 
     The fingers  64  each define a protrusion  65 , as shown in  FIGS. 15 and 16 , for example, configured to engage the groove  132 . The fingers  64  are typically configured to resiliently deform outwardly along the sloped surface  136  such that the fingers  64  spring toward the pre-deformed shape into the groove  132 . In addition or in the alternative, the barrel  114  deforms the fingers  64  into the groove  132  as the tips  66  contact and slide along the barrel  114 . 
     When the cutting accessory  32  is engaged with the end effector  12 , the bearing  56  of the cutting accessory  32  abuts the distal end  106  of the nose tube  100 . The axial connector  110  is configured to engage the cutting accessory  32  when the bearing  56  of the cutting accessory  32  abuts the distal end  106  of the nose tube  100 . The snapping of the tips  66  of the fingers  64  into the groove  132  provides a tactile confirmation that the cutting accessory  32  is properly placed in a position for the axial connector  110  to engage the cutting accessory  32  to the nose tube  100 , i.e., confirms that the bearing  56  abuts the distal end  106  of the nose tube  100 . In other words, the operator confirms that the cutting accessory  32  is properly located relative to the end effector  12  for engagement by the axial connector  110  when the operator feels, sees, and/or hears the tips  66  of the fingers  64  enter the groove  132 . The fingers  64 , the sloped surface  136  of the nose tube  100 , and the barrel  114  are configured to draw the bearing  56  against the distal end  106  of the nose tube  100  when the cutting accessory  102  is engaged with the end effector  12 , i.e., when tips  66  of the fingers  64  are engaged with between the sloped surface  136  of the nose tube  100  and the barrel  114 . 
     When the tips  66  of the fingers  64  are in the groove  132 , the biasing device  126  biases the barrel  114  to the extended position absent extraneous force applied to the barrel  114 . When the tips  66  of the fingers  64  are in the groove  132  and the barrel  114  is in the extended position, the barrel  114  pinches the fingers  64  against the ramped surface  134  of the nose tube  100  to lock the shroud  40  to the nose tube  100 . 
     To release the cutting tool  38  from the end effector  12 , the barrel  114  is moved toward the retracted position to release the tips  66  of the fingers  64  from the groove  132 . Typically, the barrel  114  is moved toward the retracted position by a human operator who exerts force on the barrel  114  toward the retracted position. The barrel  114  and the nose tube  100  define opposing surfaces  138  configured to abut each other when the barrel  114  is moved to the retracted position. 
     With the barrel  114  in the retracted position, the cutting tool  38  can be moved along the nose tube axis N away from the nose tube  100 . Typically, the fingers  64  are configured to remain in the groove  132  when the barrel  114  is in the retracted position and, as the cutting tool  38  is moved away from the nose tube  100 , the fingers  64  resiliently deform away from the tool axis T as the tips  66  of the fingers  64  slide along the ramped surface  134 . 
     As set forth above, the guard  68  is configured to engage and disengage the cutting accessory  32  with the end effector  12 . Specifically, the guard  68  is configured to actuate the barrel  114 . In other words, the guard  68  is configured to move the barrel  114  to the retracted position to engage and disengage the cutting accessory  32  with the nose tube  100 . 
     With reference to  FIGS. 32-34B , the guard  68  includes an outer member  76  and an inner member  78  slideably engaged with the outer member  76 . Specifically, the outer member  76  defines a bore  80  and slideably receives the inner member  78  in the bore  80 . The inner member  78  is slideable in the bore  80  between an extended position, as shown in  FIG. 37 , and a compressed position, as shown in  FIG. 38 . 
     With reference to  FIG. 34A , the outer member  76  includes a body  82  and flexible tangs  84  flexibly connected to the body  82 . The flexible tangs  84  support barbs  86  that extend into the bore  80 . The inner member  78  defines slots  88  that receive the barbs  86 . 
     With reference to  FIG. 34B , the inner member  78  includes a body  90  and flexible tangs  92  flexibly connected to the body  90 . The flexible tangs  92  support barbs  90 . The inner member  78  defines an interior ledge  94  that is, for example, frusto-conical in shape. The inner member  78  can include a finger grip  97 . 
     With reference to  FIGS. 35 and 36 , the guard  68  receives the cutting accessory  32 . As set forth above, the guard  68  covers the cutting tip  50  of the cutting accessory  32  to aid in the handling of the cutting accessory  32 . 
     When the cutting accessory  32  is disposed in the guard  68 , the shroud  40  of the cutting accessory  32  abuts the ledge  94 . The shroud  40  defines a groove  96  that receives the tangs  92  of the inner member  78 . 
     When the guard  68  receives the cutting accessory  32  such that the shroud  40  abuts the ledge  94 , the operator can use the inner member  78  to engage the cutting accessory  32  with the axial connector  110 . Specifically, with the shaft  42  of the cutting accessory  32  in the nose tube bore  102 , the user can exert force on the inner member  78  toward the nose tube  100  along the nose tube axis T such that the ledge  94  of the guard  68  forces the shroud  40  into engagement with the axial connector  110 . Once the shroud  40  is engaged with the axial connector  100 , the guard  68  can be removed from the cutting accessory  32  by exerting force on the guard  68  away from the nose tube  100  along the nose tube axis T. 
     To disengage the cutting accessory  32  from the axial connector  110 , e.g., after a surgical procedure, the guard  68  is placed on the cutting accessory  32  with the ledge  94  abutting the shroud  40 . In such a configuration, the tangs  84  of the outer member  76  engage a groove  98  on the barrel  114 . The outer member  76  is then moved relative to the inner member  78  to the compressed position, as shown in  FIG. 38 , to move the barrel  114  to the retracted position. 
     Specifically, the operator grasps the inner member  78  with one hand and grasps the outer member  76  with the other hand. The operator then moves the outer member  76  relative to the inner member  78  along the nose tube axis N. This movement, as shown in  FIG. 38 , forces the tangs  84  of the outer member  76  against the groove  98  of the barrel  114  to force the barrel  114  to the retracted position to release the cutting accessory  32  from the nose tube  100 . 
     As set forth above, when the guard  68  is disposed on the cutting accessory  32 , the tangs  92  of the inner member  78  frictionally engage the shroud  40 . With the outer member  76  moved to the compressed position, as shown in  FIG. 38 , the outer member  76  and inner member  78  are moved along the nose tube axis N away from the nose tube  100  to remove the cutting accessory  32  from the nose tube  100 . During this movement, the frictional engagement between the tangs  92  and the shroud  40  retains the cutting accessory  32  attached to the guard  68  as the guard  68  is moved away from the nose tube  100 . 
     As set forth above, the axial connector  150  shown in  FIGS. 24-31  receives the cutting accessory  32  including the shroud  140 . The axial connector  150  is supported on a guide portion  152  of the nose tube  100 . The axial connector  150  includes fingers  154  supported by the guide portion  152  and a barrel  156  that is rotatable about the nose tube axis T to lock and unlock the fingers  154  radially relative to the guide portion  152 , as set forth further below. 
     Specifically, with reference to  FIGS. 26 and 27 , the axial connector  150  includes a locking member  153  that includes a ring  162  and the fingers  154  extending from the ring  162 . The fingers  154  each include a protrusion  164 . While  FIGS. 26 and 27  show the locking member  153  including two fingers  154 , the locking member  153  can include any suitable number of fingers  154  without departing from the nature of the present invention. 
     With reference to  FIGS. 26, 28, and 29 , the guide portion  152  receives the lock collar  158 . The guide portion  152  defines a pair of slots  166 , as shown in  FIGS. 26 and 27 , and the protrusions  164  of each of the fingers  154  are positioned to extend through the slots  166 , respectively, as shown in  FIGS. 27 and 28 . The fingers  154  bias the protrusions  164  to extend through the slots  166 . 
     With reference to  FIGS. 26-29 , the lock collar  158  is disposed in the guide portion  152  and is positioned radially inwardly of the fingers  154 . The lock collar  158  includes a wall  168 , typically cylindrical, that defines cutouts  170  spaced circumferentially about the wall  168  for receiving the protrusions  164  of the fingers  154 , as set forth further below. 
     The barrel  156  is supported on the guide portion  152  and engages the lock collar  158  through the guide portion  152 . Specifically, as best shown in  FIG. 29 , balls  172  extend through slots  174  in the guide portion  152  and engage the barrel  156  and the lock collar  158 . As best shown in  FIGS. 26, 27, and 29 , the barrel  156  defines dimples  176  that receive the balls  172 . With reference to  FIGS. 26 and 27  the lock collar  158  defines grooves  178  that receive the balls  172 . While  FIGS. 26 and 27  show the two balls  172 , the lock collar  158  can include any suitable number of balls  172  without departing from the nature of the present invention. 
     The barrel  156  is rotatable about the nose tube axis N between an unlocked position, as shown in  FIGS. 28 and 29 , and a locked position (not shown). The lock collar  158  moves with the barrel  156  between the locked position and the unlocked position. In the unlocked position, the barrel  156  is positioned to align the cutouts  170  of the lock collar  158  with the fingers  154  to allow the fingers  154  to resiliently move radially inwardly in response to forces on the protrusions  164 . In the locked position, the barrel  156  is positioned to align the wall  168  of the lock collar  158  with the fingers  154 . In such a position, the wall  168  prevents the fingers  154  from moving radially inwardly in response to forces on the protrusions  164 , i.e., locking the fingers  154  in place. 
     With reference to  FIGS. 30 and 31 , the cutting accessory  32  is attached to the nose tube  100  by inserting the shaft  38  of the cutting accessory  32  into the nose tube bore  102  and along the nose tube axis N. With the barrel  156  in the unlocked position, i.e., with the cutouts  170  of the lock collar  158  aligned with the fingers  154 , the shroud  140  of the cutting accessory  32  depresses the protrusions  164  of the fingers  154  radially inwardly when the shroud  110  reaches the protrusions. Since the shroud  140  depresses the fingers  154  radially inwardly, the cutting accessory  32  can be seated against the nose tube  100 , as shown in  FIGS. 30 and 31 . Specifically, the bearing  56  of the cutting accessory  32  abuts the distal end  106  of the nose tube  100  when the cutting accessory  32  is seated against the nose tube  100 . 
     When the cutting accessory  32  is seated against the nose tube  100 , the fingers  154  are resiliently biased through the slot  166  of the guide portion  152  and into engagement with the groove  178  of the shroud  140 , for example, as shown in  FIGS. 30 and 31 . When the cutting accessory  32  is seated against the nose tube  100 , the barrel  156  is rotated to the locked position, i.e., to align the wall  168  of the lock collar  158  with the fingers  154  to prevent the fingers  154  from being depressed radially inwardly. In such a position, the axial connector  150  axially locks the cutting accessory  32  to the nose tube. 
     When the cutting accessory  32  is to be disassembled from the nose tube  100 , the barrel  156  is rotated to the unlocked position, i.e., to align the cutouts  170  of the lock collar  158  with the fingers  154 . In such a position, when the cutting accessory  32  is pulled from the nose tube  100 , the shroud  140  of the cutting accessory  32  depresses the fingers  154  radially inwardly into the cutouts  170  to allow the cutting accessory  32  to be removed from the nose tube  100 . 
     With reference to  FIG. 26 , the guide portion  152  and the lock collar  158  are configured to provide haptic feedback identifying the locked position and unlocked position of the barrel  156 . Specifically, the slots  174  of the guide portion  152  define detents  180  and the groove  178  of the lock collar  158  has a shallow portion  182  and a deep portion  184 . A flat  186  is positioned between the detents  180  of the slot  174 . A spring  188  is disposed in the guide portion  152  between the guide portion  152  and the lock collar  158  and biases the balls  172  into the detents  180  and the shallow portions  182 . 
     In particular, when the barrel  156  is in the unlocked position, the ball  172  is disposed one of the detents  180 . As the barrel  156  is rotated toward the locked position, the flat  186  forces the lock collar  158  against the spring  188 . When the ball  172  reaches the other detent  180 , the spring forces the ball  172  to enter the other detent  180 . The interaction of the balls  172  with the detents  180  provides a haptic feedback and also resiliently retains the barrel  156  in the selected unlocked position or locked position. 
     With reference to  FIGS. 39 and 40 , the cutting tool  38  includes a drive system  200  for driving the cutting accessory  32 . The drive system  200  shown in the Figures is configured to impart rotational movement to the cutting accessory  32 , e.g., to rotate the bur. Alternatively, the drive system  200  can be configured to impart any type of movement to the cutting accessory  32  such as, for example, oscillating translation for a reciprocating saw, pinching movement for opposing blades, translation for a needle/catheter, etc. 
     The drive system  200  includes a drive member  202 , e.g., a rotational drive member  202 , supported by the nose tube  100 , an actuator  34  coupled to the drive member  202 , and the drive connector  112  coupled to the drive member  202  for rotationally engaging the cutting accessory  32 . The drive member  202  shown in the Figures is rotatably supported in the nose tube  100 . Specifically, a bearing  204  is disposed between the drive member  202  and the nose tube  100  and the bearing  204  rotatably supports the drive member  202  in the nose tube  100 . With reference to  FIGS. 44 and 45 , the drive member  202  defines a bearing surface  234  for receiving the bearing  204 . As set forth further below, the actuator  34  is coupled to the drive member  202  to rotate the drive member  202 . Specifically, the actuator  34  is coupled to the drive connector  112  to rotate the drive connector  112  relative to the nose tube  100 . 
     The drive connector  112  is supported by the nose tube  100  and receives the cutting accessory  32  for rotatably driving the cutting accessory  32 . The drive connector  112  defines a bore  207  extending along the nose tube axis N and receiving the cutting accessory  32 . 
     With reference to  FIGS. 41-43 , the drive connector  112  includes a wedge sleeve  208  and a clutch assembly  210  disposed in the wedge sleeve  208 . The axial connector  110  is spaced from the clutch assembly  210 . Specifically, the axial connector  110  is disposed between the clutch assembly  210  and the cutting tip  50  of the cutting accessory  32 . 
     The clutch assembly  210  is configured to slideably receive the shaft  42  of the tool  38  along the nose tube axis N. The clutch assembly  210  is supported by and rotatable relative to the drive member  202  and receives the shaft  42  of the cutting accessory  32  along the nose tube axis N for selectively locking the shaft  42  to the drive member  202 . Specifically, the shaft  42  is slideable into the clutch assembly  210  to engage the tool  38  with the clutch assembly  210  and is slideable out of the clutch assembly  210  to disengage the tool  38  from the clutch assembly  210 . 
     The wedge sleeve  208  and the clutch assembly  210  are configured to frictionally lock the drive member  202  to the shaft  42  of the cutting accessory  32  to transmit rotation from the drive member  202  to the shaft  42 . The clutch assembly  210  allows for use of a relatively short shaft  42  on the cutting accessory  32 . Such use of a relatively short shaft  42  of the cutting accessory  32  increases stiffness of the cutting accessory  32 , increases surgical access, and is more economical based on use of less material. 
     With reference to  FIGS. 48-55 , the clutch assembly  210  includes a cage  212  defining a bore and a plurality of slots  216  spaced circumferentially about the cage  212  in communication with the bore. Rollers  214  are disposed in each of the slots  216 . The cage  212  defines a pair of spaced edges  218  defining each slot  216  and the roller  214  abuts both of the pair of edges  218 . The rollers  214  extend through the slot into the bore. The rollers  214  are spaced from each other and receive the shaft  42  therebetween. 
     The rollers  214  are radially moveable relative to the cage  212 . A spring  220  extends around the rollers  214  and the cage  212  to retain the rollers  214  in the slots  218  of the cage  212  and to urge the rollers  214  in contact with the edges  218 . The rollers  214 , for example, define a neck  222  for receiving the spring  220 . The clutch assembly  210  shown in  FIGS. 48-55  includes six slots  218  and six rollers  214 ; however, the clutch assembly  210  can include any number of slots  218  and corresponding rollers  214 . The shaft  42  of the cutting accessory  32  contacts each of the rollers  214  when the shaft  42  is disposed the clutch assembly  210 . 
     With reference to  FIGS. 41-43 , the drive member  202 , for example, engages a socket  226  and the clutch assembly  210  is retained between the drive member  202  and the socket  226 . The socket  226 , for example, defines a lip  228  and the drive member  202  includes an end  230 . The lip  228  and the end  230  define a cavity  232  therebetween and the clutch assembly  210  is disposed in the cavity  323 , as shown in  FIG. 43 . A bearing  206  is disposed between the socket  226  and the nose tube  100  and the bearing  206  rotatably supports the socket  226  in the nose tube  100 . With reference to  FIGS. 44 and 45 , socket  226  defines a bearing surface  236  for receiving the bearing  206 . 
     The drive connector  112  includes an interior wall  209  that receives the clutch assembly  210  and is configured to selectively bias the rollers  214  against the shaft  42 . Specifically, the wedge sleeve  208  defines the interior wall  209 . The wedge sleeve  208 , shown in isolation in  FIG. 47 , is disposed between the drive member  202  and the socket  226 , as shown in  FIGS. 41-43 , and is fixed to the drive member  202 . The wedge sleeve  208  is fixed to the drive member  202  in any fashion such as, for example, press-fit, welding, adhering, pinning, etc. 
     With reference to  FIGS. 47 and 52-55 , the wedge sleeve  208  defines a bore  238  and presents contact surfaces  240  disposed circumferentially about the bore  238 . The contact surfaces  240  shown in  FIGS. 47 and 52-55  are facets, i.e., planar. Alternatively, the contact surfaces  240  can have any shape sufficient to pinch the rollers  214  between the contact surfaces  240  and the shaft  42  of the tool  38  when the wedge sleeve  208  rotates relative to the clutch assembly  210 . For example, the contact surfaces  240  can be arced about the nose tube axis N. The wedge sleeve  208  of  FIGS. 47 and 52-55  includes twelve contact surfaces  240 , i.e., is a dodecagon. Alternatively, the wedge sleeve  208  can include any number of contact surfaces  240 . 
     The contact surfaces  240  are configured to contact the rollers  214  when the wedge sleeve  208  rotates relative to the clutch assembly  210 . The rollers  214  are spaced from the contact surfaces  240  before the shaft  42  of the tool  38  is inserted into the clutch assembly  210 , as shown in  FIGS. 52 and 53 . As shown in  FIG. 54 , the rollers  214  remain spaced from the contact surfaces  240  when the shaft  42  is initially inserted into the clutch assembly  210 . When the clutch assembly  210  rotates relative to the wedge sleeve  208 , the rollers  214  rotationally lock the shaft  42  of the tool  38  to the drive system  200 , as shown in  FIG. 55 . 
     For example, when the actuator  34  drives the drive member  202 , the drive member  202  rotates the wedge sleeve  208  relative to the clutch assembly  210 . As the wedge sleeve  208  rotates relative to the clutch assembly  210 , the contact surfaces  240  contact the rollers  214  and pinch the rollers  214  between the contact surfaces  240  and the shaft  42  of the tool  38  to rotationally lock the shaft  42  of the tool  38  to the drive member  202 . In other words, the contact surfaces  240  cause the rollers  214  to frictionally engage the shaft  42  of the tool  38 . The clutch assembly  210  is self-engaging and self-releasing. The operator merely inserts the shaft  42  along the nose axis N into engagement with the clutch assembly  210  to engage the shaft with the clutch assembly  210 , i.e., no twisting is necessary. As set forth above, the axial connector  110  retains the cutting accessory  32  to the nose tube  100  axially along the nose tube axis N. 
     The clutch assembly  210  is configured to releasably engage the cylindrical outer surface  43  of the shaft  42  of the tool  38 . Specifically, the shaft  42  presents the outer surface  43  having a cylindrical cross-section that releasably engages the drive connector  112 . The outer surface  43  typically has a constant outer diameter extending from the shroud  40  to the free end  45 . In other words, the clutch assembly  210  does not require that the shaft  42  of the tool  38  have flats or other features designed to transfer rotational movement to the shaft  42 . The clutch assembly  210  is engageable with any portion of the shaft  42  that is cylindrical. The shaft  42  is typically cylindrical between the proximal end  44  and the distal end  46 , i.e., along the entire length of the shaft  42 , such that particular alignment of the shaft  42  along the nose tube axis N is not required to engage the shaft  42  with the clutch assembly  210 . In other words, the shaft  42  engages the clutch assembly  210  without the need of aligning specific features on the shaft  42  in a particular location along the nose tube axis N. 
     The drive system, including the drive member  202 , the wedge sleeve  208 , and the clutch assembly  210 , enables the use of a cutting accessory  32  having high rigidity, decreases interference with the line of sight by the cutting accessory  32 , increases surgical sight access by reducing bulk at the end of the nose tube  100 , and allows for precise axial positioning, e.g., when used with the axial connector  110 . 
     The use of drive system  200 , and specifically the drive member  202 , the wedge sleeve  208 , and the clutch assembly  210 , is not limited to the end effector  12 . In other words, the drive system  200  can be implemented on any type of device. For example, a hand-held power tool (not shown) can include the drive system  200 . The hand-held power tool can be, for example, a surgical hand-held power tool. 
     The drive system  200  is not limited to use with irrigated cutting accessories. For example, the drive system  200  can be used to couple to solid cutting tools. One such type of cutting tool could include, for example, a shaft having a 2 mm diameter. 
     The end effector  12  and the cutting accessory  32  define a liquid delivery path L for delivering liquid through the end effector  12  and the cutting accessory  32  to the surgical site. One embodiment of the liquid delivery path L is shown in  FIGS. 5 and 6  and another embodiment of the liquid delivery path L is shown in  FIG. 31 . A bore  242 , i.e., a lumen  242 , of the drive member  202 , the bore of the tool  38 , and the ports of the cutting head  72  define the liquid delivery path L. 
     With reference to  FIGS. 43-45 , the drive member  202  includes a nipple  244  for receiving the liquid, as discussed further below. The drive member  202  defines the bore  242  extending from the nipple  244  along the tool axis T and through the drive member  202 . As set forth above, the drive member  202  receives the shaft  42  of the cutting accessory  32  in the bore  242  of the drive member  202 , i.e., is releasably engaged with the cutting accessory  32 , and the drive member  202  delivers the liquid from the nipple  244  to the shaft  42 . During cutting, the liquid can be delivered into the bore  242  of the drive member  202  at the nipple  244  and the liquid flows through the bore  242  of the drive member  202 , through the bore  70  of the shaft  42 , and out of the ports  74  of the cutting head  72  onto the surgical site. 
     With reference to  FIG. 43 , a static seal  246 , also referred to as a first seal herein, is disposed in the bore of the drive member  202  and the static seal  246  seals between the drive member  202  and the cutting accessory  32  when the cutting accessory  32  is received in the bore of the drive member  202  to prevent the liquid from leaking between the drive member  202  and the shaft  42  of the cutting accessory  32 . 
     The static seal  246  defines a bore  248  and the static seal  246  is configured to seal to the exterior of the shaft  42  of the tool  38  when the shaft  42  is inserted into the bore  248 . With reference to  FIGS. 43-45 , the drive member  202  defines a pocket  250  receiving the static seal  246 . The static seal  246  slideably receives the cutting accessory  32  in the bore  248  along the nose tube axis N. Specifically, the drive member  202  defines the pocket  250 . The static seal  246  is rotationally fixed to the drive member  202  and the cutting accessory  32  for sealing between the drive member  202  and the cutting accessory  32 . 
     The static seal  246  is “static” in that the drive member  202  and the shaft  42  of the cutting accessory  32  move together as a unit and the static seal  246  statically seals between the drive member  202  and the cutting accessory  32 . The static seal  246 , for example, is a high temperature elastomeric material such as, for example, silicone or Viton®, that is autoclave compatible. 
     With reference to  FIGS. 5-6 and 56-58 , the end effector  12  includes a cartridge  252 , i.e., a fluid delivery member, coupled configured to be coupled to the drive member  202  for delivering fluid to the bore  242  of the drive member  202 . The cartridge  252  is removably engageable with the drive member  202 . Specifically, the cartridge  252  is configured to removably connect to the nipple  244 . The cartridge  252  is configured to deliver liquid, electricity, and/or data communication to the rest of the end effector  12 . For example, when the cartridge  252  is connected to the nipple  244 , the cartridge  252  is in communication with the liquid delivery path L for delivering liquid to the liquid delivery path L. 
     With continued reference to  FIGS. 5 and 6 , a housing  254  is attached to the nose tube  100  and defines a cavity  256  that removably receives the cartridge  252 . The cartridge  252  and the cavity  256  are, for example, configured such that the cartridge  252  is retained in the cavity  256  by a friction fit. Alternatively, or in addition, the cartridge  252  and the cavity  256  can include any type of feature for selectively retaining the cartridge  252  in the cavity  256 . 
     The cartridge  252 , for example, engages the nipple  244  of the drive member  202  for delivering liquid to the bore  242  of the drive member  202 . The cartridge  252  is connected to a source of liquid (not shown) and the source of liquid delivers liquid to the cartridge  252 . The source of liquid, for example, is a peristaltic pump controlled by the manipulator controller  30 . Tubing (not shown) typically connects the cartridge  252  to the source of liquid. 
     With reference to  FIGS. 56-58 , the cartridge  252  includes a dynamic seal  258 , also referred to as a second seal herein, for connecting to the nipple  244  of the drive member  202 . The dynamic seal  258  defines a bore  260  that receives the nipple  244 . When the cartridge  252  is coupled to the drive member  202 , the dynamic seal  258  is disposed around the nipple  244  between the nipple  244  and the cartridge  252 . The dynamic seal  258  is, for example, Teflon® infused polyamide. 
     The dynamic seal  258  rotatably engages at least one of the drive member  202  and the cartridge  252  for sealing between the drive member  202  and the cartridge  252  during relative rotation therebetween. The dynamic seal  258  typically remains stationary relative to the cartridge  252  and the nipple  244  rotates relative to the dynamic seal  258  when the drive member  202  rotates. The dynamic seal  258  is configured to seal between the nipple  224  and the cartridge  252  when the nipple  224  rotates relative to the cartridge  252 . Typically, the dynamic seal  258  is retained in the cartridge  252 , i.e., dynamic seal  258  moves with the cartridge  252  when the cartridge  252  is uncoupled from the drive member  202 . 
     The drive member  202  extends along the nose tube axis N. The static seal  246  extends about the nose tube axis N. The dynamic seal  258  extends about the nose tube axis N when the cartridge  252  is coupled to the drive member  202 . The static seal  246  and the dynamic seal  258  are spaced from each other along the nose tube axis N when the cartridge is coupled to the drive member  202 . The static seal  246  is disposed along the axis between the drive connector  112  and the dynamic seal  258 . 
     The cartridge  252 , for example, includes data communication connectors (not shown) and the housing  254  supports corresponding data communication connectors (not shown) for transferring data to and from the end effector  12 . For example, the end effector  12  can transfer data from a NVRAM chip or an RFID reader to the manipulator controller  30 , as discussed further below. A flex circuit, for example, is connected to the data communication connector of the cartridge  252  for transferring data to and from the data communication connector. The flex circuit, for example, can be coupled to and extend along at least a portion of the tubing and/or wiring. The data communication connectors of the cartridge  252  and the corresponding data communication connectors of the housing can be any type of data communication connectors such as pins/corresponding sockets, plugs/receptacles, etc. 
     Alternatively, in the embodiment shown in  FIG. 31 , the shaft  42  of the cutting accessory  32  extends through the drive connector  112  to the dynamic seal  258  of the cartridge  252 . Such a configuration eliminates the need for a static seal. 
     With reference to  FIGS. 59-62 and 70 , the end effector  12  includes a handle  300  rotatably coupled to the nose tube  100 . The handle  300  is rotatably supported by the nose tube  100  about the nose tube axis N. The handle  300  defines a bore  302  that receives the nose tube  100 . The handle  300  is grasped by the hand of an operator to move the end effector  12  with the use of the force-torque sensor  408  as discussed above. The handle  300  typically has an ergonomic shape for matching the contour of the hand of the operator. The handle  300  in  FIGS. 59-62  is selectively lockable with the nose tube  100  to selectively prevent rotation of the handle  300  relative to the nose tube  100  about the nose tube axis N. The handle  300  in  FIG. 70  is freely rotatable about the nose tube  100  at all times. 
     With reference to  FIGS. 68 and 69 , a sleeve  304  is coupled to the nose tube  100  and defines threads  306  concentric with the nose tube axis N. The sleeve  304  is axially fixed along the nose tube axis N relative to the nose tube  100 . 
     With reference to  FIGS. 66 and 67 , the handle  300  includes an inner surface  308  defines threads  310  engaging the groove  306  of the sleeve  304  to couple the handle  300  to nose tube  100 . The sleeve  304  is typically disposed at the distal end  106  of the nose tube  100  and alternatively, can be disposed at any position along the nose tube  100 . A bushing  312  is disposed between the nose tube  100  and the sleeve  304  and is rotatable relative to at least one of the nose tube  100  and the sleeve  304 . 
     With reference to  FIG. 61 , a bushing  314  is disposed between the nose tube  100  and the handle  300  for rotatably coupling the handle  300  to the nose tube  100 . The bushing  314  is spaced from the sleeve  304  and is typically disposed along the nose tube  100  between the sleeve  304  and the distal end  106  of the nose tube  100 . The inner surface  308  of the handle  300  engages the bushing  314 . The bushing  314 , for example, is fixed to the nose tube  100 , e.g., by friction fit, and the inner surface  308  of the handle  300  rotatably engages the bushing  314 . Alternatively, for example, the bushing  314  is fixed to the inner surface  308  of the handle  300 , e.g., by friction fit, and the bushing  314  rotatably engages the nose tube  100 . 
     The handle  300  provides a passive sixth axis. In other words, movement can be transmitted from the hand of an operator to the handle  300  in five degrees of freedom (DOF) and the handle  300  is passive, i.e., does transmit movement, about a sixth degree of freedom, i.e., rotation about the nose tube axis N. In other words, any torque applied to the handle  300  rotates the handle  300  relative to the nose tube  100 . With reference to  FIG. 3 , the handle  300  transmits movement to the rest of the end effector  12 , e.g., the nose tube  100 , in translation along the x-axis, y-axis, and z-axis and in rotation about the x-axis and the y-axis. The handle  300  is passive, i.e., does not transmit movement to the nose tube  100 , in rotation about the z-axis. 
     With reference to  FIGS. 64-67 , the handle  300  and the nose tube  100  define locking features  316  for selectively locking the handle  300  to the nose tube  100 . For example, the nose tube  100  defines teeth  318  extending circumferentially about the nose tube  100  and the handle  300  includes a locking member  320  for engaging the teeth  318  to rotationally lock the handle  300  to the nose tube  100 . The nose tube  100  includes a circumferential ring  322 , for example, that presents the teeth  318 . 
     The locking member  320  is aligned with the teeth  318  along the nose tube axis N. The locking member  320 , for example, is a set screw threadedly engaged with a threaded access hole  324  in the handle  300 . The set screw can be threadedly advanced and retracted relative to the access hole  324  to engage and disengage the teeth  318 . 
     With reference to  FIGS. 63-77 , the end effector  12  includes a grip sensing mechanism  400 ,  450 . One embodiment of the grip sensing mechanism  400  is shown in  FIGS. 63-69  and a second embodiment of the grip sensing mechanism  450  is shown in  FIGS. 69-77 . When the robot  11  is operated in manual mode, the grip sensing mechanism  400 ,  450  is operable to prevent movement of and operation of the cutting accessory  32  when the grip sensing mechanism  400 ,  450  is released by the operator, e.g., if the operator accidentally loses grip of the end effector  12 . In other words, during use, the manipulator  10  can move the cutting accessory  32  and the actuator  34  can be powered to drive the cutting accessory  32  as long as the operator continues to actuate the grip sensing mechanism  400 ,  450 . If the operator releases the grip sensing mechanism  400 ,  450 , the manipulator  10  does not move the cutting accessory  32  and operation of the actuator  34  is prevented. This ensures that the cutting accessory  32  is not moved or driven, e.g., does not rotate, unless a hand of an operator is gripping the handle  300  of the end effector  12 . 
     The grip sensing mechanism  400 ,  450  is typically supported on the handle  300 . The grip sensing mechanism  400 ,  450  is configured to be actuated when engaged by the hand of the operator when the operator grasps the handle  300 . 
     The grip sensing mechanism  400 ,  450  includes a lever  402 , i.e., a trigger  402 , moveably mounted to the handle  300  and a sensor  408  that is actuated in response to movement of the lever  402 . In other words, the sensor  408  is supported by the nose tube  100  and is configured to identify the position of the lever  402  in the gripped position and the released position. With reference to  FIG. 66 , the handle  300  defines a slot  404  and the lever  402  is disposed in the slot  404 . 
     With reference to  FIGS. 66-67 and 74-75 , the lever  402  is typically pivotably mounted to the handle  300  and is configured to be pivoted relative to the handle  300  when the operator grasps the handle  300 . For example, the lever  402  is supported by the nose tube  100 , e.g., pinned to the handle  300  with a pin  406 , and the lever  402  is rotatable about the pin  406  relative to the handle  300  between a depressed position and a released position. Alternatively, the lever  402  can, for example, be configured to be slideable along the handle  300  along the nose tube axis N, can be configured to be depressed relative to the handle  300  transversely to the nose tube axis N, etc. 
     The sensor  408  is in a first state in response to pivoting of the lever  402  relative to the handle  300  to the depressed position. In the first state, the sensor  408  indicates to the manipulator controller  30  that the manipulator  10  can move the end effector  12  and the actuator  34  can be operated to drive the cutting accessory  32 . The sensor  408  is in a second state in response to pivoting of the lever  402  relative to the handle  300  to the released position. In the second state, the sensor  408  indicates to the manipulator controller  30  that the manipulator  10  should not move the end effector  12  and that the actuator  34  cannot be operated to drive the cutting accessory  32 . 
     An activator  410  is typically coupled to the lever  402  to actuate the sensor  408  between the first state and the second state. The activator  410  is configured to communicate with the sensor  408  in response to movement of the lever  402  between the depressed position and the released position. 
     The activator  410  is operably coupled to the lever  402  such that actuation of the lever  402  results in movement of the activator  410 . For example, as set forth further below, the lever  402  is operably coupled to the activator  410  to translate the activator  410  relative to the sensor  408  in response to pivoting of the lever  402  relative to the handle  300 . 
     The sensor  408 , for example, is an inductive sensor and the activator  410 , for example, is a metal indicator. However, it should be appreciated that the sensor  408  could be of any type such as a Hall Effect sensor, a capacitive sensor, etc., and the activator can be of any suitable type. Actuation of the lever  402 , i.e., movement of the lever  402  to the depressed position, results in movement of the magnet relative to the Hall Effect sensor to actuate the Hall Effect sensor. Alternatively, the sensor  408  and activator  410  can be of any type such as, for example, a light sensor actuated by a light emitting diode (LED), a proximity sensor, etc. 
     With reference to  FIGS. 64-65 and 71 , the grip sensing mechanism  400 ,  450  includes a sensor holder  412  supporting the sensor  408  and a carriage  414 , i.e., an activator holder  414 , supporting the activator  410 . The sensor holder  412  defines a cutout receiving the sensor  408  and the activator holder  414  defines a cutout receiving the activator  410 . At least one of the sensor holder  412  and the activator holder  414  is coupled to the lever  402  and is configured to move in response to actuation of the lever  402 . 
     With reference to  FIGS. 64-77 , the sensor holder  412  and the activator holder  414  are coupled to the nose tube  100  and at least one of the sensor holder  412  and the activator holder  414  is moveable relative to the other along the nose tube bore  102 . For example, with reference to  FIGS. 64 and 71 , the sensor holder  412  and the activator holder  414  each define a bore  416 ,  418  that slideably receives the nose tube  100 . The sensor holder  412  is fixed to the nose tube  100  and the activator holder  414  is moveable relative to the nose tube  100  along nose tube bore  102  toward and away from the sensor holder  412 . Alternatively, the activator holder  414  is fixed to the nose tube  100  and the sensor holder  412  is moveable relative to the nose tube bore  102  toward and away from the activator holder  414  or both the activator holder  414  and the sensor holder  412  are moveable relative to the nose tube bore  102  toward and away from each other. 
     With reference to  FIGS. 66-69 and 74-77 , the activator holder  414  is moveable along the nose tube  100  toward the sensor holder  412  to a proximate position, as shown in  FIGS. 66, 68, 74, and 76 , and away from the sensor holder  412  to a spaced position, as shown in  FIGS. 67, 69, 75, and 77 . At least one biasing device  420  is disposed between the activator holder  414  and the sensor holder  412  for urging the activator holder  414  toward the spaced position. For example, as shown in the  FIGS. 64, 65, and 71 , three biasing devices  420  are disposed between the activator holder  414  and the sensor holder  412 . The biasing device  420  urges the activator holder  414  away from the sensor holder  412  along the nose tube axis N toward the spaced position. The biasing device  420  shown in  FIGS. 67 and 68  is a coil spring. Alternatively, the biasing device  420  can be any type of spring. 
     With continued reference to  FIGS. 64, 65, and 71 , a post  422  supports the biasing device  420  between the sensor holder  412  and the activator holder  414 . Specifically, for example, three posts  420  support the three biasing devices  420 . The biasing device  420  is disposed on the post  422  and is configured to be retained on the post  422  between the sensor holder  412  and the activator holder  414 . The post  422  extends between the sensor holder  412  and the activator holder  414  and at least one of the sensor holder  412  and the activator holder  414  slides along the post  422 . For example, the activator holder  414  defines a bore  420  that slideably receives the post  422 . The post  422  aligns the sensor holder  412  and the activator holder  414  about the nose tube axis N. 
     With reference to  FIGS. 64 and 65 , a push member  420  is pivotably coupled to the lever  402  and is coupled to the activator holder  414 . The push member  420  is configured to move the activator holder  414  toward the proximate position in response to actuation of the lever  402  to the depressed position. The lever  402  is pinned to the push member  420  with a pin  424  that extends through the lever  402  and the push member  420 . The push member  420  is pivotable relative to the lever  402  about the pin  424 . 
     With reference to  FIGS. 64 and 65 , a sleeve  426  slideably receives the nose tube  100  adjacent the activator holder  414 . The activator holder  414  is coupled to the lever  420  and is moveable relative to the sensor  408  along the nose tube axis N in response to movement of the lever  420  between the gripped position and the released position for indicating to the sensor  408  the position of the lever in the gripped position and the released position. 
     The activator holder  414  extends annularly about the nose tube axis N and slides along the nose tube  100  as the lever  420  moves between the gripped position and the released position. The push member  420  includes a fork  428  that receives the sleeve  426  and is pivotably pinned to the sleeve  426 . When the push member  420  is moved relative to the nose tube  100  in response to actuation of the lever  402 , the push member  420  moves the sleeve  426  and the sleeve  426  abuts and moves the activator holder  414 . 
     With reference to  FIGS. 66 and 67 , the push member  420  extends transversely to the nose tube axis N from the lever  402  toward the proximal end  108  of the nose tube  100  at an acute angle relative to the lever  402 . When the lever  402  is actuated, i.e., when the lever  402  is moved to the depressed position, the lever  402  forces the push member  420  to slide the sleeve  426  along the nose tube axis N toward the proximal end of the nose tube  100  and the sleeve  426  forces the activator holder  414  to the proximate position against the bias of the biasing device  420 . In other words, the bias of the biasing device  420  is overcome to move the activator holder  414  along the nose tube axis N to the proximate position. When the operator releases the lever  402 , the biasing device  420  biases the activator holder  414  to the spaced position and the activator holder  414  abuts the sleeve  426  and pushes the sleeve  426  toward the distal end  106  of the nose tube  100 . Movement of the sleeve  426  toward the distal end  106  of the nose tube  100  pivots the push member  420  and forces the lever  402  to return to the released position. 
     As set forth above, another embodiment of the grip sensing mechanism  450  is shown in  FIGS. 70-77 . With reference to  FIGS. 70 and 71 , the grip sensing mechanism  450  includes a sleeve  452  coupled to the lever  402  and to at least one of the actuator holder  414  and the sensor holder  412 . For example, as shown in  FIG. 70 , the sleeve  452  slideably engages the nose tube  100  and abuts the actuator holder  414 . 
     A push member  456  is coupled to the lever  402  and the sleeve  452  to transfer movement from the lever  402  to the sleeve  452 . The sleeve  452  presents a lip  454  that receives the push member  456 . The lever  402  defines a hole  458  that receives the lever  456 . 
     With reference to  FIGS. 74-77 , when the lever  402  is actuated, i.e., when the lever  402  is moved to the depressed position, the lever  402  forces the lever  456  to slide the carriage  452  along the nose tube axis N toward the proximal end of the nose tube  100 . The carriage  452  forces the activator holder  414  to the proximate position against the bias of the biasing device  420 . In other words, the bias of the biasing device  420  is overcome to move the activator holder  414  along the nose tube axis N to the proximate position. When the operator releases the lever  402 , the biasing device  420  biases the activator holder  414  to the spaced position and the activator holder  414  abuts the carriage  452  and pushes the carriage  452  toward the distal end  106  of the nose tube  100 . Movement of the carriage  452  toward the distal end  106  of the nose tube  100  pivots the lever  456  and forces the lever  402  to return to the released position. 
     As set forth above, the handle  300  is rotatably supported by the nose tube  100  about the nose tube axis N. The lever  402  is pivotably coupled to the nose tube about a pivot point P. The pivot point P is fixed relative to the handle about the nose tube axis N. In other words, the lever  402  rotates about the nose tube axis N with the handle  300 , i.e., as a unit. The carriage  414  is rotatably supported by the nose tube  100  and rotates with the handle  300  about the nose tube axis N. 
     With reference to  FIGS. 78-83 , a gear box  500  couples the actuator  34  to the drive member  202 . The gear box  500  offsets the actuator  34  from the tool axis T. In other words, the actuator  34  is offset from the tool axis T to provide access for the cartridge  252  to supply liquid to the tool  38 . Specifically, the actuator  34  is offset toward the manipulator  10 . This shifts the center of gravity of the end effector  12  toward the manipulator  10 , which reduces inertia of the manipulator  10  and improves ergonomics and handling of the end effector. The shift of the center of gravity of the end effector  12  results in better performance of the force-torque sensor on the manipulator  10 . 
     The gear box  500  includes a housing  502  and can include at least one gear  504  supported in the housing  502 . The gear  504  is in communication with the actuator  34  and the drive member  202  for transmitting rotation from the actuator  34  to the drive member  202 , as shown in  FIG. 81 . The gear box  500  shown in the Figures includes one gear  504 , however, the gear box  500  can include any number of gears between the motor and the drive member  202 . Alternatively, the actuator  34  can be directly engaged with the drive member  202  and can be axially aligned with the drive member  202 . In such an embodiment, the actuator  34  can be cannulated to deliver irrigation fluid to the drive member  202 . 
     With reference to  FIGS. 78 and 79 , the housing  502  receives the actuator  34  and the drive member  202 . The actuator  34  includes an output shaft  506  and the drive member  202  includes an input portion  508  with the housing  502  receiving the output shaft  506  and the input portion  508 . The output shaft  506  of the actuator  34  is engaged with a gear  510 . For example, the gear  510  is fixed to the output shaft  506  or can be formed on the output shaft  506 . The gear  510  is meshed with the gear  504  in the housing  502 . 
     The input portion  508  of the drive member  202  is engaged with the gear  504 . For example, an idler gear  512  is fixed to the input portion  508  of the drive member  202 . The idler gear  512  is meshed with the gear  504  in the housing  502 . 
     With reference to  FIGS. 80, 82, and 83 , the housing  502  includes a base  514  and a cover  516  mounted to the base  514 . The base  514  defines a cavity  518  receiving the gear  504  and receiving the input portion  508  of the drive shaft  42  and the output shaft  506  of the actuator  34 . With reference to  FIGS. 79-81 , an idle shaft  520  supports the gear  504  in the housing  502 . In other words, the gear  504  is idle in the housing  502  and is driven by the output shaft  506  of the actuator  34 . 
     The actuator  34  is typically a motor. For example, the motor can be an electric, brushless, Hall-less, DC permanent magnet motor. Alternatively, for example, the actuator  34  can be a brushed motor, and AC motor, a pneumatic motor, a hydraulic motor, etc. 
     IV. Cutting Accessory Identification 
     With reference to  FIGS. 84-89 , the cutting accessory  32  and/or guard  68  include a first circuit  600 , e.g., an identification element  600 , and the nose tube  100  includes a second circuit  606 . The first circuit  600  and the second circuit  606  are configured to communicate with each other. 
     The identification element  600  is, for example, a wireless data element  602 , as shown in  FIGS. 84-85 , or wired data element  604 , as shown in  FIGS. 86-89 . The identification element  600  communicates with the end effector  12  to identify the cutting accessory  32 . For example, the identification element  600  can identify to the end effector  12  the type, size, manufacturer, life use data, and/or other parameters of the cutting accessory. 
     With reference to  FIGS. 84-85 , the wireless data element  602  is, for example, a radiofrequency identification (RFID) element, e.g., chip, tag, etc. The wireless data element  602  of  FIGS. 84-85  is mounted to the guard  68 . Alternatively, the wireless data element  602  can be supported by the cutting accessory  32 , e.g., in the shroud. For example, the wireless data element  602  can be connected to the inside surface  160  of the shroud  140  of  FIGS. 24 and 25 . 
     With reference to  FIG. 85 , the second circuit  606 , e.g., a wireless reader  606  such as an RFID reader, is mounted to the nose tube  100 . The wireless reader  606  can, for example, be a wire coil that acts as an antenna. This coil can be wound with thermocouple wire to additionally act as a temperature sensor for the bearings in the nose tube. 
     The wireless reader  606  receives a signal from the wireless data element  602 . The wireless reader  606  is connected to the manipulator controller  30  to transfer the signal/data from the wireless data element  602  to the manipulator controller  30  so that the manipulator controller  30  can use the signal/data to operate the end effector  12  according to the parameters of the cutting accessory  32 . As shown in  FIG. 85 , the signal/data can be communicated to the manipulator controller  30 . For example, a flex circuit  614  or wire, etc. connects to the wireless reader  606  to deliver the signal/data. 
     With reference to  FIG. 86 , the wired data element  604  is memory such as, for example, non-volatile random access memory (NVRAM). The memory is supported in the shroud  40  of the cutting accessory  32 . 
     With reference to  FIGS. 86 and 87 , one of the fingers  64  of the shroud  40  supports a connection  610  that is connected to the wired data element  604  with, for example, a flex circuit, wire, etc., which is not shown. With reference to  FIG. 87 , the nose tube  100  supports a corresponding connection  612  configured to connect to connection  610  when the cutting accessory  32  is connected to the nose tube  100 . The cutting accessory  32  and/or the nose tube  100  can include alignment features (not shown) configured to align the shroud  40  with the nose tube  100  such that the connector  610  is aligned with the connector  612  when the cutting accessory  32  is engaged with the nose tube  100 . 
     With reference to  FIG. 89 , the connector  612  is connected to the manipulator controller  30  to transfer the signal/data from the wireless communicating element  602  to the manipulator controller  30  so that the manipulator controller  30  can use the signal/data to operate the end effector  12  according to the parameters of the cutting accessory  32 . As shown in  FIG. 89 , the signal/data can be communicated to the manipulator controller  30 . For example, a flex circuit  616  or wire, etc., connects to the connector  612  to deliver the signal/data. 
     A method of assembling the cutting accessory  32  to the nose tube  100  is followed to identify the cutting accessory  32  to the manipulator controller  30 . For example, in the embodiment of  FIGS. 84-85  with the first circuit mounted to the guard  68 , the method includes first providing the cutting accessory  32  with the guard  68  covering a portion of the cutting accessory  32 . Specifically, the guard  68  covers the cutting tip  50  of the cutting accessory  32 . 
     The method includes inserting the cutting accessory  32  into the nose tube  100  along the nose tube axis N to couple the cutting accessory  32  with the nose tube  100 , as described above. The method includes introducing the first circuit  600  into communication with the second circuit  606 . Specifically, as the cutting accessory  32  is inserted into the nose tube  100 , the first circuit  600  comes within sufficient proximity to the second circuit  606  to enable wireless communication. 
     After the cutting accessory  32  is connected to the nose tube  100 , the guard  68  is removed and set aside. At this time, the communication between the first circuit  600  and the second circuit  606  is complete and proximity of the first circuit  600  near the second circuit  606  is no longer necessary. 
     The invention has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present invention are possible in light of the above teachings, and the invention may be practiced otherwise than as specifically described.