A robotic surgical system having a master controller configured to control a set of basic functions of the components of the robotic surgical system. The components including at least an electromechanical tool, an electromechanical arm, an instrument shaft, and an end effector. At least one secondary controller is disposed within at least one of the components and is configured to control functions of the components in addition to the basic functions controlled by the master controller. The functions of the components controlled by the secondary controller increasing the functionality of the robotic surgical system.