A robotic assembly, comprising: a base; a main shaft mounted to the base to rotate relative to the base and comprising a proximal end, a distal end, and a main shaft rotational axis defined therebetween; a first drive shaft mounted inside the main shaft and offset from the main shaft rotational axis; an actuation assembly drivingly coupled with the main shaft and the first drive shaft, the actuation assembly operable to rotate the main shaft relative to the base and rotate the first drive shaft relative to the main shaft, wherein the actuation assembly comprises a first motor gear, a first coupling shaft proximal gear, a first coupling shaft, a first coupling shaft distal gear, a first annular gear, and a first drive shaft gear, wherein the first annular gear comprises first annular gear external gear teeth and first annular gear internal ring gear teeth, wherein the first motor gear engages and rotates the first coupling shaft proximal gear, which rotates the first coupling shaft, which engages and rotates the first coupling shaft distal gear, which engages and rotates the first annular gear external gear teeth to rotate the first annular gear, which rotates the first annular gear internal ring gear teeth, which engage and rotate the first drive shaft gear, which rotates the first drive shaft relative to the main shaft, wherein the first annular gear is rotated about a first annular gear rotational axis that is fixed relative to the base, and wherein the main shaft rotational axis and the first annular gear rotational axis are coincident; and an end effector coupled with the main shaft, the end effector comprising a shaft driven actuation mechanism coupled with the first drive shaft. a base; a main shaft mounted to the base to rotate relative to the base and comprising a proximal end, a distal end, and a main shaft rotational axis defined therebetween; a first drive shaft mounted inside the main shaft and offset from the main shaft rotational axis; an actuation assembly drivingly coupled with the main shaft and the first drive shaft, the actuation assembly operable to rotate the main shaft relative to the base and rotate the first drive shaft relative to the main shaft, wherein the actuation assembly comprises a first motor gear, a first coupling shaft proximal gear, a first coupling shaft, a first coupling shaft distal gear, a first annular gear, and a first drive shaft gear, wherein the first annular gear comprises first annular gear external gear teeth and first annular gear internal ring gear teeth, wherein the first motor gear engages and rotates the first coupling shaft proximal gear, which rotates the first coupling shaft, which engages and rotates the first coupling shaft distal gear, which engages and rotates the first annular gear external gear teeth to rotate the first annular gear, which rotates the first annular gear internal ring gear teeth, which engage and rotate the first drive shaft gear, which rotates the first drive shaft relative to the main shaft, wherein the first annular gear is rotated about a first annular gear rotational axis that is fixed relative to the base, and wherein the main shaft rotational axis and the first annular gear rotational axis are coincident; and an end effector coupled with the main shaft, the end effector comprising a shaft driven actuation mechanism coupled with the first drive shaft.