Robotic surgical tool with translatable drive puck

A handle for a robotic surgical tool, comprising:

• a drive puck, a plurality of spline couplings, a drive peg associated with each of the plurality of spline couplings, and a drive mechanism operatively coupling each of the plurality of spline couplings with the drive peg associated therewith, wherein the each of the plurality of spline couplings is unaligned with the drive peg associated therewith;
• at least one spline and a lead screw extendable between first and second ends of the handle, the drive puck being movably mounted to the lead screw and the at least one spline and movable between the first and second ends based on rotation of the lead screw;
• a spline coupling rotatably coupled to the drive puck for receiving the at least one spline such that rotation of the at least one spline correspondingly rotates the spline coupling associated therewith;
• and
• an instrument drive output rotatably coupled to the drive puck and operatively coupled to the spline coupling, such that rotation of the spline coupling correspondingly rotates the instrument drive output, wherein the instrument drive output extends from a face of the drive puck at a location offset from the at least one spline.

A method of assembling a robotic surgical tool, comprising:

• accessing a handle having a first end, a second end, and a lead screw and at least one spline extending between the first and second ends, wherein a drive puck is movably mounted to the lead screw and the at least one spline and movable between the first and second ends;
• receiving the at least one spline at a spline coupling rotatably coupled to the drive puck such that rotation of the at least one spline correspondingly rotates the spline coupling, wherein an instrument drive output is rotatably coupled to the drive puck and operatively coupled to the spline coupling such that rotation of the spline coupling correspondingly rotates the instrument drive output;
• mounting a drive housing to the drive puck, the drive housing having a drive input rotatably mounted to the drive housing and matable with the instrument drive output such that rotation of the instrument drive output correspondingly rotates the drive input;
• and
• transferring rotational torque from the spline coupling to the instrument drive output, and from the instrument drive output to the drive input.