Method of decoupling rotation of a surgical instrument shaft supporting an end effector from rotation of a drive shaft drivingly coupled with a mechanism of the end effector

A method of decoupling rotation of a surgical instrument shaft supporting an end effector from rotation of a drive shaft drivingly coupled with a rotational input of a mechanism of the end effector, the method comprising:

• rotating the end effector relative to a base by rotating the surgical instrument shaft relative to the base around an instrument shaft axis;
• rotating a first input link of a differential relative to the base, the rotation of the first input link relative to the base being associated with a desired rotation of the rotational input relative to the end effector;
• rotating a second input link of the differential relative to the base in response to the rotation of the surgical instrument shaft relative to the base;
• rotating, via the differential, an output link of the differential relative to the base in response to the rotation of the first input link relative to the base and the rotation of the second input link relative to the base;
• rotating the drive shaft relative to the end effector in response to the rotation of the output link of the differential relative to the base;
• and
• returning the end effector mechanism to a predetermined configuration upon a disconnect between an actuation source controlling rotation of the first input link of the differential and the first input link.

A method of decoupling rotation of a surgical instrument shaft supporting an end effector from rotation of a drive shaft drivingly coupled with a rotational input of a mechanism of the end effector, the method comprising:

• rotating the end effector relative to a base by rotating the surgical instrument shaft relative to the base around an instrument shaft axis;
• moving a first cable relative to the base, the movement of the first cable being associated with a desired rotation of the rotational input relative to the end effector;
• moving a second cable in response to the rotation of the surgical instrument shaft relative to the base;
• moving a first pulley and a second pulley in response to the movement of the second cable;
• engaging the first cable with each of the first pulley and the second pulley;
• and
• rotating the drive shaft in response to the movement of the first cable.

A method of decoupling rotation of a surgical instrument shaft supporting an end effector from rotation of a drive shaft drivingly coupled with a rotational input of a mechanism of the end effector, the method comprising:

• rotating the end effector relative to a base by rotating the surgical instrument shaft relative to the base around an instrument shaft axis;
• moving a first cable in response to the rotation of the surgical instrument shaft relative to the base;
• moving a second cable relative to the base, the movement of the second cable being associated with a desired rotation of the rotational input relative to the end effector;
• moving a first pulley and a second pulley in response to the movement of the second cable;
• engaging the first cable with each of the first pulley and the second pulley;
• and
• rotating the drive shaft in response to the movement of the first cable.