Infinitely rotatable tool with finite rotating drive shafts

A robotically controlled surgical system, comprising:

• a robotic instrument driver configured to articulate a steerable catheter, the robotic instrument driver comprising rotatable shafts operatively coupleable to respective drive shafts of a splayer of the steerable catheter and configured to rotate the respective drive shafts of the splayer to tension respective directional control elements coupled thereto;
• and
• a non-steerable catheter rotation device positioned on the robotic instrument driver, wherein the non-steerable catheter rotation device comprises:
• an output shaft extending from a housing;
• a first input drive pair within the housing and comprising a first eccentric shaft;
• and
• a second input drive pair within the housing and comprising a second eccentric shaft,
• wherein each of the first input drive pair and the second input drive pair is rotatable about respective drive axes and is coupled to a respective one of the rotatable shafts of the robotic instrument driver,
• wherein a first rotation of the first and second eccentric shafts results in engagement of the first input drive pair with the output shaft and disengagement of the second input drive pair with the output shaft, and a second rotation of the first and second eccentric shafts results in engagement of the second input drive pair with the output shaft and disengagement of the first input drive pair with the output shaft, and
• wherein:
• when the first input drive pair is engaged with the output shaft and rotated, the output shaft is caused to rotate in an output rotational direction, and
• when the second input drive pair is engaged with the output shaft and rotated, the output shaft is caused to rotate in the output rotational direction.