US Patent 9295522 Medical device adapter with wrist mechanism

A surgical device adapter for coupling an end effector to a surgical device includes: a proximal joint housing that is couplable to the surgical device; a middle joint housing that is pivotally coupled to the distal end of the proximal joint housing; and a distal joint housing that is pivotally coupled to the distal end of the middle joint housing. The middle joint housing is pivotable about a first pivot axis defined between the proximal joint housing and the middle joint housing. The distal joint housing is couplable to the end effector and pivotable about a second pivot axis defined between the middle joint housing and the distal joint housing, the second pivot axis being transverse to the first pivot axis.