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 . <EOS>