A surgical system comprising: an electrosurgical power generator at least one surgical mechanical arm comprising a tool configured to operate in at least one bipolar operational mode at least one motor unit comprising: a connector configured to connect said motor unit to said electrosurgical power generator or wherein said electrosurgical power generator is housed within said at least one motor unit wherein said at least one motor unit comprises: one or more actuators mechanically coupled to said surgical arm and configured to actuate said surgical arm a first electrical conduction pathway electrically connected to said electrosurgical power generator and extending from said motor unit, through a volume defined by said surgical mechanical arm, to said tool and a second electrical conduction pathway connected to said electrosurgical power generator and extending from said motor unit to said tool.
