#$%^&*AU2008207599B220140220.pdf#####NUTATING GEAR DRIVE MECHANISM FOR SURGICAL DEVICES ABSTRACT A drive mechanism for transmitting rotation force in surgical devices comprises a nutating gear reduction drive (50) having an input and an output. The input is s configured to be driven at high speed, low torque by a proximal drive shaft of a surgical device. The output is configured to transmit a low speed, high torque rotational force. The proximal drive shaft (28) can be flexible. In one embodiment, the nutating gear reduction drive (50) includes a wobble plate (60). This nutating gear reduction drive (50) may include at least one crown gear. In an alternative embodiment, the nutating gear 1o drive includes at least one ring gear. The ring gear is fixed in place. This embodiment can also include at least one spur gear.4/8 28 52 NPUT 60 56 62 66 OUTPUT 5 81 FIG. 4
