Control input accuracy for teleoperated surgical instrument

1 . A method, comprising:

driving, by a motor, a camshaft of a transmission of a telesurgically operated instrument to a first rotational state of a plurality of rotational states, wherein the camshaft defines a longitudinal axis and rotates about the longitudinal axis;

engaging, in the first rotational state, a first input gear of a first effector drivetrain of the transmission with a first gear of the first effector drivetrain via a first power cam of the camshaft; and

disengaging, in the first rotational state, a first locker arm of the first effector drivetrain from the first gear via a first locker cam of the camshaft.

2 . The method of claim 1 , further comprising:

engaging a primary input gear of the transmission with the first effector drivetrain via the first power cam; and

engaging an idler gear of the transmission with the primary input gear and the first input gear via the first power cam.

3 . The method of claim 1 , further comprising:

rotating, by the motor, in the first rotational state, the first power cam and the first locker cam 120 degrees about the longitudinal axis of the camshaft.

4 . The method of claim 1 , further comprising:

engaging, in the first rotational state, a second input gear of a second effector drivetrain of the transmission with a second gear of the second effector drivetrain via a second power cam of the camshaft; and

disengaging, in the first rotational state, a second locker arm of the second effector drivetrain from the second gear via a second locker cam of the camshaft.

5 . The method of claim 4 , further comprising:

engaging, in the first rotational state, a third input gear of a third effector drivetrain of the transmission with a third gear of the third effector drivetrain via a third power cam of the camshaft; and

disengaging, in the first rotational state, a third locker arm of the third effector drivetrain from the third gear via a third locker cam of the camshaft.

6 . The method of claim 5 , wherein in the first rotational state, the first gear, the second gear, and the third gear are driven by the motor.

7 . The method of claim 5 , further comprising:

driving, by the motor, the camshaft to a second rotational state of the plurality of rotational states;

disengaging, in the second rotational state, the first input gear from the first gear via the first power cam;

engaging, in the second rotational state, the first locker arm with the first gear via the first locker cam;

engaging, in the second rotational state, the second input gear from the second gear via the second power cam;

disengaging, in the second rotational state, the second locker arm from the second gear via the second locker cam;

disengaging, in the second rotational state, the third input gear from the third gear via the third power cam; and

engaging, in the second rotational state, the third locker arm with the third gear via the third locker cam.

8 . The method of claim 7 , wherein in the second rotational state, the motor only drives the second gear.

9 . The method of claim 7 , further comprising:

driving, by the motor, the camshaft to a third rotational state of the plurality of rotational states;

disengaging, in the third rotational state, the first input gear from the first gear via the first power cam;

engaging, in the third rotational state, the first locker arm with the first gear via the first locker cam;

disengaging, in the third rotational state, the second input gear from the second gear via the second power cam;

engaging, in the third rotational state, the second locker arm with the second gear via the second locker cam;

engaging, in the third rotational state, the third input gear with the third gear via the third power cam; and

disengaging, in the third rotational state, the third locker arm from the third gear via the third locker cam.

10 . The method of claim 9 , wherein in the third rotational state, the motor only drives the third gear.

11 . A method, comprising:

driving, by a controller, a camshaft of a transmission of a telesurgically operated instrument to a first rotational state of a plurality of rotational states, wherein the camshaft defines a longitudinal axis and rotates about the longitudinal axis, and wherein the controller comprises at least one processor for controlling the transmission;

engaging, by the controller, in the first rotational state, a first input gear of a first effector drivetrain of the transmission with a first gear of the first effector drivetrain via a first power cam of the camshaft; and

disengaging, by the controller, in the first rotational state, a first locker arm of the first effector drivetrain from the first gear via a first locker cam of the camshaft.

12 . The method of claim 11 , further comprising:

engaging, by the controller, the first effector drivetrain with a primary input gear of the transmission via the first power cam; and

engaging, by the controller, the primary input gear and the first input gear with an idler gear of the transmission via the first power cam.

13 . The method of claim 11 , further comprising:

rotating, by the controller, in the first rotational state, the first power cam and the first locker cam 120 degrees about the longitudinal axis of the camshaft.

14 . The method of claim 11 , further comprising:

engaging, by the controller, in the first rotational state, a second input gear of a second effector drivetrain of the transmission with a second gear of the second effector drivetrain via a second power cam of the camshaft; and

disengaging, by the controller, in the first rotational state, a second locker arm of the second effector drivetrain from the second gear via a second locker cam of the camshaft.

15 . The method of claim 14 , further comprising:

engaging, by the controller, in the first rotational state, a third input gear of a third effector drivetrain of the transmission with a third gear of the third effector drivetrain via a third power cam of the camshaft; and

disengaging, by the controller, in the first rotational state, a third locker arm of the third effector drivetrain from the third gear via a third locker cam of the camshaft.

16 . The method of claim 15 , further comprising:

rotating, by the controller, the first gear, the second gear, and the third gear in sync about a longitudinal axis of a first shaft of the first effector drivetrain.

17 . The method of claim 15 , further comprising:

driving, by the controller, the camshaft to a second rotational state of the plurality of rotational states;

disengaging, by the controller, in the second rotational state, the first input gear from the first gear via the first power cam;

engaging, by the controller, in the second rotational state, the first locker arm with the first gear via the first locker cam;

engaging, by the controller, in the second rotational state, the second input gear with the second gear via the second power cam;

disengaging, by the controller, in the second rotational state, the second locker arm from the second gear via the second locker cam;

disengaging, by the controller, in the second rotational state, the third input gear from the third gear via the third power cam; and

engaging, by the controller, in the second rotational state, the third locker arm with the third gear via the third locker cam.

18 . The method of claim 17 , further comprising:

rotating, by the controller, in the second rotational state, the second gear about a longitudinal axis of a second shaft of the second effector drivetrain.

19 . The method of claim 17 , further comprising:

driving, by the controller, the camshaft to a third rotational state of the plurality of rotational states;

disengaging, by the controller, in the third rotational state, the first input gear from the first gear via the first power cam;

engaging, by the controller, in the third rotational state, the first locker arm with the first gear via the first locker cam;

disengaging, by the controller, in the third rotational state, the second input gear from the second gear via the second power cam;

engaging, by the controller, in the third rotational state, the second locker arm with the second gear via the second locker cam;

engaging, by the controller, in the third rotational state, the third input gear with the third gear via the third power cam; and

disengaging, by the controller, in the third rotational state, the third locker arm from the third gear via the third locker cam.

20 . The method of claim 19 , further comprising:

rotating, by the controller, in the third rotational state, the third gear about a longitudinal axis of a third shaft of the third effector drivetrain.