Abstract: A surgical tool includes a drive housing, a drive input rotatably mounted to a bottom of the drive housing, a capstan assembly arranged within the drive housing and operatively coupled to the drive input such that rotation of the drive input correspondingly actuates the capstan assembly, a longitudinally driven gear engageable with the drive gear, a drive rod coupled to the longitudinally driven gear and extending from the drive housing to an end effector of the surgical instrument and at least one biasing member mounted to the drive housing and operatively coupled to at least one of the capstan assembly and the longitudinally driven gear. The biasing member biases the longitudinally driven gear toward a proximal position with a constant force.

Abstract: A surgical tool includes a drive housing, a drive input rotatably mounted to a bottom of the drive housing, a capstan assembly arranged within the drive housing to rotate a drive gear about a rotational axis and within a drive plane orthogonal to the rotational axis, a longitudinally driven gear engageable with the drive gear, and a drive rod operatively coupled to the longitudinally driven gear and extending from the drive housing to a knife extendable within end effector of the surgical instrument. The drive rod is aligned within the drive plane such that translation of the longitudinally driven gear induces a corresponding longitudinal translation of the drive rod within the drive.

Abstract: A surgical tool includes a drive housing, a drive input rotatably mounted to a bottom of the drive housing, a capstan assembly arranged within the drive housing and operatively coupled to the drive input such that rotation of the drive input correspondingly actuates the capstan assembly, a static actuation limiter arranged within the drive housing, and a dynamic actuation limiter provided by the capstan assembly and engageable with the static actuation limiter as the capstan assembly is actuated. Engaging the dynamic actuation limiter against the static actuation limiter stops actuation of the capstan assembly.