US Patent 7241288 Surgical instrument

A surgical instrument comprising a tube shaft at the proximal end of which an instrument head for rotatably supporting an effector is pivotably supported and at the distal end of which an instrument handle is arranged which causes a pivot as well as a bending movement of the instrument head via a bending gear train and a rotation of the effector via a rotation gear train. In the rotation gear train, a motion compensating member is integrated and also is operated via the instrument handle when the bending gear train is operated, and drives the rotation gear train such that an operation of the rotation gear train caused by the pivoting movement of the instrument head, or parts thereof, is compensated.