The retrieval device (10) according to the present invention includes a distal end effector (50) that is movable between a contracted state and an expanded state. The end effector (50) includes support members (26, 28, 30), and each support member includes a passage. The end effector (50) also includes a plurality of movable members (18, 20, 22). The first movable member (18) includes a first portion that extends into the first passage of the support member. The retrieval device (50) also includes a proximal handle assembly (200) that includes a longitudinal actuator (16) and a torsional actuator (16) coupled to a plurality of movable members (18, 20, 22). . The longitudinal actuator (16) and the torsional actuator (16) longitudinally move the movable member (18, 20, 22) without moving or twisting the support member (26, 28, 30) in the longitudinal direction. It can be moved in the direction and twisted.本発明による回収デバイス(10)は、収縮状態と拡張状態の間を移動可能である遠位側のエンドエフェクタ(50)を含む。エンドエフェクタ(50)は、支持部材(26,28,30)を含み、各支持部材は、通路を含む。エンドエフェクタ(50)はまた、複数の移動可能部材(18,20,22)を含む。第１の移動可能部材(18)は、支持部材の第１の通路の中に延びる第１の部分を含む。回収デバイス(50)はまた、複数の移動可能部材(18,20,22)に結合された長手方向アクチュエータ(16)と捩り用アクチュエータ(16)を含む近位側のハンドルアセンブリ(200)を含む。長手方向アクチュエータ(16)及び捩り用アクチュエータ(16)は、支持部材(26,28,30)を長手方向に移動させることも捩ることもせずに、移動可能部材(18,20,22)を長手方向に移動させて捩ることができるように構成される。
