A robotic surgical tool, comprising: a handle having a drive input and a spline operatively coupled to the drive input, wherein rotating the spline causes operation of a function of the robotic surgical tool; a bailout ring arranged at the handle; a slipper clutch mechanism received within the bailout ring and including: a slip carrier rotationally fixed to the bailout ring and defining a vertical slot that slidably receives a pin; a first ring arranged within the slip carrier and defining a first interface; a second ring arranged within the slip carrier atop the first ring and defining a second interface; and a pinion gear operatively coupled to the spline and arranged to intermesh with radial gear teeth defined on the second ring, wherein manual rotation of the bailout ring rotates the slip carrier and the pin in the same direction and thereby rotates the first ring when the pin is received within the first interface, wherein manual rotation of the bailout ring rotates the second ring once the pin locates and is received within the second interface, wherein rotating the second ring drives the pinion gear and rotates the spline to manually bail out the function of the robotic surgical tool, and wherein the pin is configured to translate vertically within the vertical slot to sequentially and successively locate each interface as the slip carrier rotates about the tool axis during manual actuation of the slipper clutch mechanism. a handle having a drive input and a spline operatively coupled to the drive input, wherein rotating the spline causes operation of a function of the robotic surgical tool; a bailout ring arranged at the handle; a slipper clutch mechanism received within the bailout ring and including: a slip carrier rotationally fixed to the bailout ring and defining a vertical slot that slidably receives a pin; a first ring arranged within the slip carrier and defining a first interface; a second ring arranged within the slip carrier atop the first ring and defining a second interface; and a pinion gear operatively coupled to the spline and arranged to intermesh with radial gear teeth defined on the second ring, a slip carrier rotationally fixed to the bailout ring and defining a vertical slot that slidably receives a pin; a first ring arranged within the slip carrier and defining a first interface; a second ring arranged within the slip carrier atop the first ring and defining a second interface; and a pinion gear operatively coupled to the spline and arranged to intermesh with radial gear teeth defined on the second ring, wherein manual rotation of the bailout ring rotates the slip carrier and the pin in the same direction and thereby rotates the first ring when the pin is received within the first interface, wherein manual rotation of the bailout ring rotates the second ring once the pin locates and is received within the second interface, wherein rotating the second ring drives the pinion gear and rotates the spline to manually bail out the function of the robotic surgical tool, and wherein the pin is configured to translate vertically within the vertical slot to sequentially and successively locate each interface as the slip carrier rotates about the tool axis during manual actuation of the slipper clutch mechanism.