Systems and subsystems for rolling a surgical instrument

A shaft roll subsystem comprising:

• a shaft assembly comprising:
• a rotatable outer shaft;
• and
• an inner shaft;
• and
• a shaft roll puck assembly configured to engage a housing and comprising:
• a shaft roll puck rotatably mounted on an outer housing shell of the housing;
• a first screw gear rotatable with the shaft roll puck;
• and
• a second screw gear meshed with the first screw gear and coupled to the rotatable outer shaft,
• wherein rotation of the shaft roll puck rotates the first screw gear, which rotates the second screw gear, which rotates the rotatable outer shaft.

A shaft roll subsystem comprising:

• a shaft assembly comprising:
• a rotatable outer shaft;
• and
• an inner shaft;
• and
• a shaft roll puck assembly configured to engage a housing and comprising:
• a shaft roll puck rotatably mounted on the housing;
• a first input capstan rotatable with the shaft roll puck;
• a second input capstan rotatable with the shaft roll puck;
• an output drum connected to the rotatable outer shaft;
• a first roll cable connecting the first input capstan and the output drum;
• and
• a second roll cable connecting the second input capstan and the output drum,
• wherein rotation of the shaft roll puck rotates the first input capstan and the second input capstan, which causes either:
• (i) the first roll cable to wrap around the first input capstan and second roll cable to unwrap from the second input capstan, thereby rotating the output drum in a first direction, or
• (ii) the first roll cable to unwrap from the first input capstan and second roll cable to wrap around the second input capstan, thereby rotating the output drum in a second direction.

A surgical instrument comprising:

• a housing;
• an end effector;
• a joint coupled to the end effector;
• a shaft assembly coupling the housing and the joint and comprising:
• a rotatable outer shaft;
• and
• an inner shaft;
• and
• a shaft roll puck assembly engaging the housing and comprising:
• a shaft roll puck rotatably mounted on an outer housing shell of the housing;
• a first screw gear rotatable with the shaft roll puck;
• and
• a second screw gear meshed with the first screw gear and coupled to the rotatable outer shaft,
• wherein rotation of the shaft roll puck rotates the first screw gear, which rotates the second screw gear, which rotates the rotatable outer shaft, which rotates the joint and end effector about a roll axis.