#$%^&*AU2018271364A120181220.pdf#####MEDICAL DEVICE ADAPTER WITH WRIST MECHANISM ABSTRACT A surgical device (200) having a drive mechanism (330) comprising: a proximal transmission shaft (332) rotatably disposed within a proximal joint housing (206), the proximal transmission shaft (332) including a connector sleeve (218) disposed at a proximal end thereof couplable to the surgical device and a first gear disposed at a distal end thereof； a middle transmission shaft (334) rotatably disposed within a middle joint housing (204), the middle transmission shaft (334) including a second gear disposed at a proximal end thereof and meshingly engaged with the first gear and a third gear disposed at a distal end thereof； and a distal transmission shaft (336) rotatably disposed within a distal joint housing (202), the distal transmission shaft (336) including a fourth gear disposed at a proximal end thereof and meshingly engaged with the third gear, the first, second, third and fourth gears having an elliptical shape.
