Robotically-enabled medical system with multi-functional end effector having rotational offset

A robotically-enabled medical system provided by the present invention can include a multifunction end effector. The multifunction end effector can be configured to perform at least two functions. Thetwo functions can be rotationally offset with respect to one another. The rotational offset can allow the robotically-enabled system to operate the multifunction end effector in a plurality of modes.At least some of the modes can preclude access to one or more functions of the end effector. 本发明提供了一种机器人启用式医疗系统，所述机器人启用式医疗系统可包括多功能端部执行器。所述多功能端部执行器可被配置为执行至少两种功能。所述两种功能可相对于彼此旋转地偏移。所述旋转偏移可允许所述机器人启用式系统以多种模式操作所述多功能端部执行器。所述模式中的至少一些模式可阻止触及所述端部执行器的一个或多个功能。