Provided herein as an end effector for a surgical apparatus including a housing having an outer wall and an opening therein, and opposed first and second walls extending along opposite sides of the opening, a first actuator pivotally coupled to the first wall of the housing, a second actuator pivotally coupled to the second wall of the housing, and a coupling disposed within the opening of the housing and between at least a portion of the first and second actuators, the coupling including opposed first and second ends, each end pivotally coupled to a different one of the first and second actuators. To operate the actuators, a mechanism to controllably move a wire within a flexible tubular member, the wire including opposed wire ends extending outwardly of a proximal end of a flexible tubular member and a portion therebetween end connected to a actuator of the end effector is provided, and it includes a drive mechanism and a coupler extending between the drive mechanism and the wire end, wherein movement of the coupling in the direction of the wire end results in opposed motion of the wire end.本發明提供一種用於手術設備的端部效應器，其包括一殼體，其內具有一外壁與一開口，並且相對的第一和第二壁沿著該開口的相對側延伸；一第一致動器，其樞轉連結至該殼體的該第一壁；一第二致動器，其樞轉連結至該殼體的該第二壁；以及一連結器，其位於該殼體的該開口之內以及至少部分該第一與第二致動器之間，該連結器包括相對的第一與第二末端，每一末端都樞轉連結至不同的該第一與第二致動器之一。為了操作該致動器，提供一種可控制地在一軟管構件內移動一導線的機構，該導線包括從一軟管構件的一近端向外延伸的相對導線端，和在其間連接到該端部效應器的一致動器之部分，並且其包括一驅動機構以及在該驅動機構與該導線端之間延伸的一連結器，其中該連結器在該導線端方向上的移動導致該導線端的相反動作。
