Abstract: A surgical tool includes a drive housing, a closure tube extending from the drive housing, and an end effector arranged at an end of the closure tube and having opposing jaws. A method of operating the surgical tool includes operating one or more motors in a first direction at a constant velocity and thereby urging the closure tube to move and actuate the opposing jaws to engage and clamp onto tissue, stopping operation of the motor(s) in the first direction when a torque on the motor(s) exceeds a predetermined torque, storing an angular position of the motor(s) when the torque exceeds the predetermined torque, operating the motor(s) in a second direction opposite the first direction over a preset angular magnitude, and upon reaching the preset angular magnitude, operating the motor(s) in the first direction at the constant velocity.

Abstract: A robotic surgical tool includes a handle having a drive input and a spline, a bailout ring arranged at the handle, and a slipper clutch mechanism received within the bailout ring. The slipper clutch mechanism 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. Manual rotation of the bailout ring rotates the slip carrier and the pin and thereby rotates the first and second ring in succession to rotate the spline and manually bail out a function of the robotic surgical tool.