Patent ID: 7048745

Claim:
A robotic surgical system comprising: a plurality of tools of different tool-types, each tool comprising an elongate shaft with a cross section suitable for introduction into an internal surgical site within a patient body via a minimally invasive opening, a distal surgical end effector coupled to the shaft by at least one joint, the joint drivingly coupled to a proximal interface by a tool drive system, and circuitry that transmits a tool-type signal via the interface; a robotic manipulator including a linkage supporting a tool holder which releasably receives the interface, at least one manipulator drive motor drivingly engaging the linkage so as to move the tool holder relative to the opening and position the shaft within the surgical site, and at least one tool drive motor coupled to the tool holder so as to drivingly engage the tool drive system and articulate the at least one joint; and a processor coupled to the tool holder, the processor having programming that effects a desired movement of the end effector by transmitting drive signals to the at least one tool drive motor of the manipulator, wherein the processor reconfigures programming for different characteristics based on the tool-type signals.