Abstract: A decoupler includes a decoupler housing, a differential assembly rotatably mounted to the decoupler housing and including a first drive shaft rotatable by a first drive output of an instrument driver, wherein a first drive input of a handle is rotatable based on rotation of the first drive shaft, an insertion assembly rotatably mounted to the decoupler housing and including a second drive shaft rotatable by a second drive output of the instrument driver, wherein a second drive input of the handle is rotatable based on rotation of the second drive shaft, and a gear train rotatable by the insertion assembly to cause rotation of the differential assembly.

Abstract: A robotic surgical tool includes a handle providing a plurality of drive inputs, an elongate shaft including a plurality of sliding rack gears movably nested within a corresponding plurality of longitudinal channels defined along the shaft, and an end effector arranged at a distal end of the shaft and an articulable wrist interposing the end effector and the distal end. An actuation system housed in the handle actuates the drive inputs to move the sliding rack gears and thereby causes operation of at least one of the end effector and the wrist. A tailpiece is arranged at a proximal end of the shaft and is operably coupled to the sliding rack gears, the tailpiece includes a housing and a manual actuation device mounted to the housing and manually actuatable to act on the sliding rack gears and thereby operate at least one of the end effector and the wrist.

Abstract: A robotic surgical tool includes a handle providing drive inputs and a shaft drive input, an instrument driver providing drive outputs and a shaft drive output, an elongate shaft extendable through the handle and the instrument driver, an end effector and a wrist arranged at a distal end of the shaft, a decoupler interposing the handle and the instrument driver, an insertion assembly mounted to the decoupler housing, and a differential gear train extending between the insertion assembly and each differential assembly included in the decoupler such that actuation of the insertion assembly correspondingly actuates each differential assembly as the shaft moves.

Abstract: A robotic surgical tool includes a handle providing drive inputs and a shaft drive input, an instrument driver providing drive outputs and a shaft drive output, an elongate shaft extendable through the handle and the instrument driver, an end effector and a wrist arranged at a distal end of the shaft, a decoupler interposing the handle and the instrument driver, an insertion assembly mounted to the decoupler housing, and a differential gear train extending between the insertion assembly and each differential assembly included in the decoupler such that actuation of the insertion assembly correspondingly actuates each differential assembly as the shaft moves.