Patent Publication Number: US-2022225974-A1

Title: Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 16/295,391, filed Mar. 7, 2019, now U.S. Pat. No. 11,298,114, which is a continuation of U.S. patent application Ser. No. 14/991,401, filed Jan. 8, 2016, now U.S. Pat. No. 10,226,239, which claims the benefit of and priority to U.S. Provisional Patent Application No. 62/145,794, filed Apr. 10, 2015, the entire disclosure of each of which is incorporated by reference herein. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates to adapter assemblies for use in surgical systems. More specifically, the present disclosure relates to adapter assemblies for use with, and to electrically and mechanically interconnect, electromechanical surgical devices and surgical loading units, and to surgical systems including handheld electromechanical surgical devices and adapter assemblies for connecting surgical loading units to the handheld electromechanical surgical devices. 
     BACKGROUND 
     Surgical device manufacturers have developed product lines with proprietary powered drive systems for operating and/or manipulating the surgical device. In instances the surgical devices include a powered handle assembly, which is reusable or disposable, and a disposable end effector or the like that is selectively connected to the powered handle assembly prior to use and then disconnected from the end effector following use in order to be disposed of or in some instances sterilized for re-use. 
     Many of the existing end effectors for use with many of the existing powered surgical devices and/or handle assemblies are driven by a linear force. For examples, end effectors for performing endo-gastrointestinal anastomosis procedures, end-to-end anastomosis procedures and transverse anastomosis procedures, each typically require a linear driving force in order to be operated. As such, these end effectors are not compatible with surgical devices and/or handle assemblies that use a rotary motion to deliver power or the like. 
     In order to make the linear driven end effectors compatible with powered surgical devices and/or handle assemblies that use a rotary motion to deliver power, adapters and/or adapter assemblies are used to interface between and interconnect the linear driven end effectors with the powered rotary driven surgical devices and/or handle assemblies. Many of these adapter and/or adapter assemblies are complex devices including many parts and requiring extensive labor to assemble. Accordingly, a need exists to develop adapters and/or adapter assemblies that incorporate fewer parts, are less labor intensive to assemble, and are ultimately more economical to manufacture. 
     SUMMARY 
     The present disclosure relates to adapter assemblies for use with and to electrically and mechanically interconnect electromechanical surgical devices and surgical loading units, and to surgical systems including handheld electromechanical surgical devices and adapter assemblies for connecting surgical loading units to the handheld electromechanical surgical devices. Embodiments of the adapter assemblies of the present disclosure have a gimbal and two universal joints for providing the surgical loading units with omnidirectional degrees of freedom. The resulting articulation angle of the surgical loading units relative to the handheld electromechanical surgical device can result in improved access to tissue within a surgical site. 
     According to an aspect of the present disclosure, an adapter assembly for selectively interconnecting a surgical loading unit that is configured to perform a function and a surgical device that is configured to actuate the surgical loading unit, the surgical loading unit including an axially translatable drive member, and the surgical device including one or more rotatable drive shafts, includes a housing, an outer tube, an articulation assembly, and a firing assembly. 
     The housing is configured and adapted for connection with the surgical device and to be in operative communication with a rotatable drive shaft rotatable drive shafts of the surgical device. The outer tube defines a longitudinal axis and has a proximal end supported by the housing and a distal end portion configured and adapted for connection with the surgical loading unit. The distal end portion of the outer tube is in operative communication with the axially translatable drive member of the surgical loading unit. 
     The adapter assembly includes an articulation assembly including a gimbal supported in the distal end portion of the outer tube and a plurality of threaded sleeves supported in the housing. The plurality of threaded sleeves is coupled to the gimbal by at least one cable. The firing assembly includes a firing shaft supported within the housing and the outer tube. The firing shaft includes at least one universal joint. Rotation of at least one of the plurality of rotatable drive shafts of the surgical device translates at least two of the plurality of threaded sleeves to articulate the gimbal relative to the longitudinal axis of the outer tube with the at least one cable. Articulation of the gimbal articulates the at least one universal joint of the firing shaft and the surgical loading unit about the distal end portion of the outer tube. 
     In embodiments, the firing shaft includes a proximal end configured and adapted to couple to at least one of the plurality of rotatable drive shafts of the surgical device, and a distal end configured and adapted to couple to the axially translatable drive member of the surgical loading unit to enable firing of the surgical loading unit. The at least one universal joint is positioned between the proximal and distal ends of the firing shaft. In some embodiments, the firing shaft is configured and adapted to transmit a rotational force through the gimbal to effectuate axial translation of the axially translatable drive member and to fire the surgical loading unit. 
     The firing shaft may include a proximal firing shaft, a central tube, and a distal firing shaft. In embodiments, the proximal firing shaft and the central tube are connected at a proximal universal joint of the at least one universal joint such that the central tube is movable relative to the proximal firing shaft. In some embodiments, the proximal firing shaft includes a pair of opposed distal tabs that form a first hinge of the proximal universal joint and the central tube includes a pair of opposed proximal tabs that form a second hinge of the proximal universal joint. The first and second hinges of the proximal universal joint are interconnected by a proximal bearing assembly. In certain embodiments, the proximal bearing assembly includes a plurality of outer arcuate surfaces. Each outer arcuate surface is disposed in an inner arcuate surface defined in each of the pair of opposed distal tabs of the proximal firing shaft and the pair of opposed proximal tabs of the central tube. 
     In embodiments, the central tube and the distal firing shaft are connected at a distal universal joint of the at least one universal joint such that the distal firing shaft is movable relative to the central tube. In some embodiments, the central tube includes a pair of opposed distal tabs that form a first hinge of the distal universal joint and the distal firing shaft includes a pair of opposed proximal tabs that form a second hinge of the distal universal joint. The first and second hinges are interconnected by a distal bearing assembly. In certain embodiments, the distal bearing assembly includes a plurality of outer arcuate surfaces. Each outer arcuate surface is disposed in an inner arcuate surface defined in each of the pair of opposed distal tabs of the central tube and the pair of opposed proximal tabs of the distal firing shaft. In some embodiments, the gimbal defines a gimbal bore therethrough that is configured and adapted to receive the distal universal joint such that the gimbal is disposed around the distal universal joint. 
     In embodiments, a distal end portion of the proximal firing shaft defines a bore therein, the central tube defines a bore therethrough, and a proximal end portion of the distal firing shaft defines a bore therein. A spring wire is disposed within the bores of the proximal firing shaft, the central tube, and the distal firing shaft. In some embodiments, the spring wire is configured to bias the firing assembly along the longitudinal axis of the outer tube and is bendable upon articulation of the gimbal. 
     In some embodiments, the gimbal defines at least one slot in an outer surface thereof, and the at least one cable is secured within the at least one slot. In some embodiments, the outer tube includes a distal mounting member disposed therein that includes an outer surface that defines at least one recess, with the at least one cable extending through the recess. 
     In embodiments, the plurality of threaded sleeves is supported on at least one threaded screw. In some embodiments, the at least one threaded screw includes a first set of threads and a second set of threads. The first and second set of threads can be threaded in opposite directions. A first one of the plurality of threaded sleeves can be threadably engaged with the first set of threads and a second one of the plurality of threaded sleeves can be threadably engaged with the second set of threads. Rotation of the at least one threaded screw in a first rotational direction can approximate the first one and the second one of the plurality of threaded sleeves. Rotation of the at least one threaded screw in a second rotational direction can separate the first one and the second one of the plurality of threaded sleeves. 
     The adapter assembly may include an articulation actuator secured to the housing. In embodiments, the articulation actuator includes a joystick extending outwardly from the housing. The joystick is configured to move in a direction corresponding to a direction of articulation of the surgical loading unit. In some embodiments, the articulation actuator includes a plurality of directional switches disposed within the housing and the joystick includes a rocker configured and dimensioned to contact one or more of the directional switches upon movement of the joystick. 
     According to another aspect of the present disclosure, an electromechanical system includes a surgical loading unit including at least one axially translatable drive member, a handheld electromechanical surgical device including a housing and at least one rotatable drive shaft supported in the housing, and an adapter assembly selectively connectable between the housing of the surgical device and the surgical loading unit. The adapter assembly includes an articulation assembly and a firing assembly. The articulation assembly includes a gimbal and a plurality of threaded sleeves coupled to the gimbal by at least one cable. The plurality of threaded sleeves are movable to articulate the gimbal with the at least one cable. Articulation of the gimbal articulates the surgical loading unit. The firing assembly includes a firing shaft connectable between the at least one rotatable drive shaft of the surgical device and the at least one axially translatable drive member. The firing shaft includes at least one universal joint and is movable at the at least one universal joint with the gimbal to articulate the surgical loading unit and rotatable to translate the at least one axially translatable drive member through the surgical loading unit. 
     Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the appended figures. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiment(s) given below, serve to explain the principles of the disclosure, wherein: 
         FIG. 1A  is a perspective view of an electromechanical surgical system in accordance with the principles of the present disclosure; 
         FIG. 1B  is an enlarged, perspective view of the indicated area of detail shown in  FIG. 1A ; 
         FIG. 2  is an enlarged, perspective view of an adapter assembly of the electromechanical surgical system of  FIG. 1A ; 
         FIG. 3  is an enlarged, perspective view of a distal end portion of the adapter assembly shown in the indicated area of detail of  FIG. 2 ; 
         FIG. 4  is a bottom, cross-sectional view of the adapter assembly of  FIG. 2 , as taken along line  4 - 4  of  FIG. 2 , illustrating an articulation assembly thereof in a first condition; 
         FIG. 5A  is a side, perspective view, with parts separated, of a proximal portion of the adapter assembly of  FIG. 2 ; 
         FIG. 5B  is an enlarged perspective view of an actuator of the proximal portion of the adapter assembly of  FIG. 5A ; 
         FIG. 6  is front, perspective view of the proximal portion of the adapter assembly of  FIG. 2 , as taken along line  6 - 6  of  FIG. 4 ; 
         FIG. 7  is an enlarged, side perspective view of a portion of the articulation assembly and a portion of a firing assembly, with the articulation assembly shown in the first condition; 
         FIG. 8  is an enlarged, bottom perspective view of a section of the portion of the articulation assembly shown in  FIG. 7 ; 
         FIG. 9  is an enlarged, cross-sectional, bottom view of the indicated area of detail shown in  FIG. 4 , with the articulation assembly being shown in a second condition; 
         FIG. 10A  is an enlarged, perspective view, with parts separated, of the distal portion of the adapter assembly shown in  FIG. 3 ; 
         FIG. 10B  is an enlarged, perspective view, with parts separated, of a firing assembly of the distal portion of the adapter assembly of  FIG. 10A ; 
         FIG. 11  is an enlarged, perspective view of a gimbal of the articulation assembly; 
         FIG. 12  is an enlarged, side, perspective view of the distal portion of the adapter assembly shown in  FIG. 3 , with portions thereof removed for clarity, the distal portion of the adapter assembly being shown in a non-articulated condition; 
         FIG. 13  is an enlarged, front, perspective view of a distal portion of the articulation assembly; 
         FIG. 14  is a side, cross-sectional view of the adapter assembly of  FIG. 2 , as taken along line  14 - 14  of  FIG. 2 ; 
         FIG. 15  is an enlarged, side, cross-sectional view of the indicated area of detail shown in  FIG. 14 ; 
         FIG. 16  is an enlarged, perspective view, with parts separated, of a surgical loading unit of the electromechanical surgical system of  FIG. 1A ; 
         FIGS. 17A and 17B  are progressive, side, perspective views illustrating a proximal portion of a surgical loading unit of the electromechanical surgical system of  FIG. 1A  being secured to the distal portion of the adapter assembly shown in  FIG. 3 ; 
         FIG. 18  is an enlarged, front, perspective view of the distal end portion of the adapter assembly of  FIG. 3 , the distal end portion of the adapter assembly being shown in an articulated condition; 
         FIG. 19  is an enlarged, rear, perspective view of the distal end portion of the adapter assembly of  FIG. 3  with portions thereof removed for clarity, the distal end portion of the adapter assembly being shown in the articulated condition; 
         FIG. 20  is an enlarged, front, perspective view of a portion of the electromechanical surgical system of  FIG. 1A , the surgical loading unit thereof being shown in the articulated condition; and 
         FIG. 21  is an enlarged, perspective view, with parts separated of a firing assembly of a distal portion of an adapter assembly in accordance with another embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Electromechanical surgical systems of the present disclosure include surgical devices in the form of powered handheld electromechanical instruments configured for selective attachment to a plurality of different end effectors that are each configured for actuation and manipulation by the powered handheld electromechanical surgical instrument. In particular, the presently described electromechanical surgical systems include adapter assemblies that interconnect the powered handheld electromechanical surgical instruments to the plurality of different end effectors. Each adapter assembly includes an articulation assembly and a firing assembly that is operatively coupled to a powered handheld electromechanical surgical instrument for effectuating actuation and/or manipulation thereof. The articulation assembly includes one or more cables that interconnect a gimbal and two or more threaded sleeves. The firing assembly includes at least one universal joint operatively connected with the gimbal. The gimbal couples to one of the plurality of end effectors such that axial movement of the threaded sleeves moves the one or more cables to rotate the gimbal and to bend the firing assembly in response to rotation of the gimbal to effectuate articulation of the end effector about a distal end of the adapter assembly. 
     Embodiments of the presently disclosed electromechanical surgical systems, surgical devices/handle assemblies, adapter assemblies, and/or loading units are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “distal” refers to that portion of the system, assembly, device, and/or component thereof, farther from the user, while the term “proximal” refers to that portion of the system, assembly, device, and/or component thereof, closer to the user. 
     Turning now to  FIGS. 1A and 1B , an electromechanical surgical system, in accordance with the present disclosure, generally referred to as  10 , includes a surgical device  100  in the form of a powered handheld electromechanical instrument, an adapter assembly  200 , and a loading unit  300  (e.g., an end effector, multiple- or single-use loading unit). Surgical device  100  is configured for selective connection with adapter assembly  200 , and, in turn, adapter assembly  200  is configured for selective connection with loading unit  300 . Together, surgical device  100  and adapter assembly  200  may cooperate to actuate loading unit  300 . 
     Surgical device  100  includes a handle housing  102  including a circuit board (not shown) and a drive mechanism (not shown) situated therein. The circuit board is configured to control the various operations of surgical device  100 . Handle housing  102  defines a cavity therein (not shown) for selective removable receipt of a rechargeable battery (not shown) therein. The battery is configured to supply power to any of the electrical components of surgical device  100 . Handle housing  102  supports a plurality of motors (not shown), each in electrical communication with the circuit board and each including a rotatable drive shaft extending therefrom. 
     Handle housing  102  includes an upper housing portion  102   a  which houses various components of surgical device  100 , and a lower hand grip portion  102   b  extending from upper housing portion  102   a . Lower hand grip portion  102   b  may be disposed distally of a proximal-most end of upper housing portion  102   a . The location of lower housing portion  102   b  relative to upper housing portion  102   a  is selected to balance a weight of a surgical device  100  that is connected to or supporting adapter assembly  200  and/or loading unit  300 . 
     Handle housing  102  provides a housing in which the drive mechanism (not shown) is situated. The drive mechanism is configured to drive shafts and/or gear components in order to perform the various operations of surgical device  100 . In particular, the drive mechanism is configured to drive shafts and/or gear components in order to selectively articulate loading unit  300  about a longitudinal axis “X” and relative to a distal end of adapter assembly  200 , to selectively rotate loading unit  300  about longitudinal axis “X” and relative to handle housing  102 , to selectively move/approximate/separate an anvil assembly  310  and a cartridge assembly  320  of loading unit  300  relative to one another, and/or to fire a stapling and cutting cartridge within cartridge assembly  320  of loading unit  300 . 
     Handle housing  102  defines a connection portion  104  configured to accept a proximal end of adapter assembly  200 . Connection portion  104  houses an articulation contact surface  105  in electrical communication with the circuit board (not shown) and a plurality of rotatable drive shafts or connectors  106 . Each rotatable drive shaft of the plurality of rotatable drive shafts  106  can be independently, and/or dependently, actuatable and rotatable by the drive mechanism or motors (not shown) housed within housing handle  102 . In embodiments, the plurality of rotatable drive shafts  106  includes rotatable drive shafts,  106   a ,  106   b , and  106   c  arranged in a common plane or line with one another. As can be appreciated, the plurality of rotatable drive shafts can be arranged in any suitable configuration. The drive mechanism (not shown) may be configured to selectively drive one of the rotatable drive shafts  106  of surgical instrument  100 , at a given time. 
     Handle housing  102  supports a plurality of finger-actuated control buttons, rocker devices, and the like for activating various functions of surgical device  100 . For example, handle housing  102  supports a plurality of actuators including, for example, an actuation pad  108  in operative registration with a plurality of sensors  108   a  that cooperate with actuation pad  108  to effectuate, for example, opening, closing, and/or firing of loading unit  300 . Handle housing  102  can support actuators  107   a ,  107   b  which can be disposed in electrical communication with the motors of handle housing  102  to effectuate rotation of rotatable drive shafts  106   a ,  106   b , and/or  106   c  for actuation thereof to enable adjustment of one or more of the components of adapter assembly  200 . Any of the presently described actuators can have any suitable configuration (e.g., button, knob, toggle, slide, etc.) 
     Reference may be made to International Application No. PCT/US2008/077249, filed Sep. 22, 2008 (Inter. Pub. No. WO 2009/039506), and U.S. Patent Application Publication No. 2011/0121049, filed on Nov. 20, 2009 (U.S. Pat. No. 10,588,629), the entire contents of each of which being incorporated herein by reference, for a detailed description of various internal components of and operation of exemplary electromechanical surgical systems, the components of which are combinable and/or interchangeable with one or more components of electromechanical surgical systems  10  described herein. 
     With reference to  FIGS. 2-3 , adapter assembly  200  includes a housing  202  at a proximal end portion thereof and an outer tube  204  that extends distally from housing  202  to a distal end portion  2040  thereof. 
     Turning now to  FIGS. 4-9 , housing  202  of adapter assembly  200  includes a proximal housing  202   a  and a distal housing  202   b  that support an articulation actuator  205  ( FIGS. 5A-5B ) to effectuate articulation of loading unit  300 . As shown in  FIGS. 5A-5B , articulation actuator  205  includes a support member  205   a  disposed within proximal housing  202   a  and including a plurality of directional switches  205   b  disposed thereon in electrical communication with articulation contact surface  105  ( FIG. 1A ) of surgical device  100 . Alternatively, directional switches  205   b  are in operative communication (e.g., wireless communication) with the circuit board (not shown) of surgical device  100 . A joystick  205   c  is pivotally coupled to support member  205   a  and includes a knob  205   d  and a rocker  205   e  disposed at opposed ends thereof. Knob  205   d  extends outwardly from the proximal housing  202   a  and is configured for actuation by a finger of a user. Rocker  205   e  is configured and dimensioned to contact one or more of directional switches  205   b  when joystick  205   c  is pivoted/deflected in a corresponding direction by actuation of knob  205   d  to enable omni-directional articulation of loading unit  300  relative to adapter assembly  200 . Joystick  205   c  is biased in a centered position such that rocker  205   e  does not contact any of directional switches  205   b . In embodiments, directional switches  205   b  correspond to different yaw and/or pitch angles, relative to longitudinal axis “X,” to which loading unit  300  can be moved, upon activation of one or more of the directional switches  205   b  in response to a deflection direction and/or angle of joystick  205   c.    
     With continued reference to  FIG. 5A , proximal housing  202   a  includes a housing body  206  defining a central slot  206   a  therethrough and having a distal lip  206   b  extending radially outwardly therefrom. Housing body  206  supports a mounting assembly  210  thereon. Mounting assembly  210  is supported on housing body  206  and includes a shaft  212  that extends outwardly from housing body  206 , a spring  214  that is supported about an outer surface of shaft  212 , and a mounting button  216  that engages spring  214  and shaft  212 . Spring  214  contacts a bottom surface of mounting button  216  to bias mounting button  216  upwardly to an extended position spaced from housing body  206 . Spring  214  is sufficiently compressible to enable mounting button  216  to be depressed downwardly from the extended position to a compressed position. In the compressed position, mounting button  216  is disposed in close approximation with housing body  206  and offset from the extended position. Mounting button  216  includes sloped engagement features  216   a  that are configured to contact connection portion  104  ( FIG. 1A ) of handle housing  102  while mounting button  216  is in the extended position to facilitate securement of housing  202  to connection portion  104  of handle housing  102 . 
     As seen in  FIGS. 4 and 5A , distal housing  202   b  includes a first half-section  218   a  and a second half-section  218   b . First half-section  218   a  includes a plurality of pins  220  extending therefrom and second half-section  218   b  defines a plurality of bores  222  adapted to receive the plurality of pins  220  of first half-section  218   a  to mate the first and second half-sections  218   a ,  218   b  together. Each of first and second half-sections  218   a ,  218   b  defines an internal lip receiving annular recess  224  adapted to receive a portion of distal lip  206   b  of proximal housing  202   a  to facilitate securement of proximal and distal housings  202   a ,  202   b . Each of first and second half-sections  218   a ,  218   b  defines an articulation-assembly-receiving recess  226  that is in communication with an outer-tube-receiving channel  228 . Each outer-tube-receiving channel  228  is defined through a distal end of one of first and second half-sections  218   a ,  218   b.    
     An articulation assembly  230  is supported within housing  202  and outer tube  204 . Articulation assembly  230  includes a pair of sleeve assemblies  240   a ,  240   b  at a proximal end thereof and a gimbal  250  at a distal end thereof. The pair of sleeve assemblies  240   a ,  240   b  and the gimbal  250  are connected by a plurality of cables  260 . As depicted in  FIG. 6 , and described in greater detail below, the plurality of cables  260  includes a first cable  260   a , a second cable  260   b , a third cable  260   c , and a fourth cable  260   d.    
     With reference to  FIGS. 6-9 , in conjunction with  FIGS. 4 and 5A , each of the pair of sleeve assemblies  240   a ,  240   b  includes a support shaft  242 , a threaded screw assembly  244 , a bearing block  245 , and a pair of threaded sleeves  246 ,  248 . 
     As seen in  FIG. 4 , support shaft  242  includes a proximal portion  242   a  received in central slot  206   a  (see  FIG. 5A ) of proximal housing  202   a . Proximal portion  242   a  of support shaft  242  defines a threaded bore  242   b  therein. Each threaded bore  242   b  receives therein a screw  243  that is advanced through a screw passage  203  defined in proximal housing  202   a  to facilitate securement of articulation assembly  230  to proximal housing  202   a . Support shaft  242  further includes a distal portion  242   c  that extends distally from proximal portion  242   a.    
     With reference to  FIG. 5A , each screw  243  can function as a cable tensioner to adjust overall slack and/or tension in one or more of the plurality of cables  260  as depicted by axial lines of translation “A 1 ” and “A 2 ” of the pair of sleeve assemblies  240   a ,  240   b  and by rotational arrows “B 1 ” and “B 2 ” of screws  243 . For example, with reference again to  FIG. 4 , the pair of sleeve assemblies  240   a ,  240   b  are disposed in offset longitudinal relationship with respect to each other (e.g., compare relative longitudinal relationship between bearing blocks  245  and/or distal ends of threaded screw assemblies  244 ) to depict differences in slack adjustment in each sleeve assembly  240   a ,  240   b . In embodiments, slack or tension adjustments of one of the pair of sleeve assemblies  240   a ,  240   b  can be different and/or the same as the other of the pair of sleeve assemblies  240   a ,  240   b , and likewise can be further adjusted as necessary to achieve a desired cable slack or tension in one or more of the plurality of cables  260 . In particular, clockwise and/or counterclockwise (e.g., tightening and/or loosening) rotation of screw  243  relative to one of threaded bores  242   b  approximates and/or separates screw  243  relative to support shaft  242  to axially move one or both of the pair of sleeve assemblies  240   a ,  240   b  (proximally and/or distally) to adjust slack or tension in one or more of the plurality of cables  260 . In embodiments, rotation of one or both screws  243  in a first direction, draws one or both of the pair of sleeve assemblies  240   a ,  240   b  proximally, and rotation of one or both screws in a second direction, distally advances one or both of the pair of sleeve assemblies  240   a ,  240   b . In some embodiments, rotation in the first direction of one or both screws  243  draws one or both of the pair of sleeve assemblies  240   a ,  240   b  proximally, and rotation in the second direction of one or both screws  243  distally advances one or both of the pair of sleeve assemblies  240   a ,  240   b . As can be appreciated, each screw  243  can be independently and/or dependently rotatable with respect to the other screw  243 . 
     Threaded screw assembly  244  includes a threaded screw  244   a  extending distally from an input socket  244   b  with a distal end of input socket  244   b  being mechanically coupled to a proximal end of threaded screw  244   a . Each input socket  244   b  is configured to engage one of the plurality of rotatable drive shafts  106  of handle housing  102 . For example, input socket  244   b  of sleeve assembly  240   b  can be mechanically coupled to rotatable drive shaft  106   a  and input socket  244   b  of sleeve assembly  240   a  can be mechanically coupled to rotatable drive shaft  106   c.    
     Threaded screw  244   a  includes a first thread portion  244   c  and a second thread portion  244   d  that are threaded in opposite directions to one another. For example, first thread portion  244   c  can be a left-hand thread and second thread portion  244   d  can be a right-hand thread, or vice-versa. In embodiments, first and second thread portions  244   c ,  244   d  have the same thread pitch. Threaded screw  244   a  can include a third thread portion  244   e . Third thread portion  244   e  can be either right or left handed and can have the same and/or different pitch as the first and/or second thread portions  244   c ,  244   d . As can be appreciated, any of first, second, or third thread portions  244   c ,  244   d ,  244   e  can have any suitable pitch, shape, dimension, and/or configuration. With reference to  FIG. 4 , threaded screw  244  includes a retaining member or flange  244   f  extending from an outer surface thereof. 
     As seen in  FIG. 8 , bearing block  245  is mounted on proximal end portion of support shaft  242  and on threaded screw assembly  244 . Bearing block  245  includes distal plate  245   a  and a proximal plate  245   b  that are secured together by a pair of fasteners  245   c ,  245   d . With reference also to  FIG. 4 , distal and proximal plates  245   a ,  245   b  define first and second channels  245   e ,  245   f  therethrough. First channel  245   e  receives a proximal portion of threaded screw  244  and encloses retaining member  244   f  and a thrust bearing  247 . Second channel  245   f  receives support shaft  242 , which can be fixedly secured therein to facilitate axial advancement of one of the pair of sleeve assemblies  240   a ,  240   b  upon rotation of screws  243  as described above. As can be appreciated, bearing block  245  of sleeve assembly  240   a  is a mirror image of bearing block  245  of sleeve assembly  240   b.    
     Referring to  FIGS. 7 and 8 , each of the pair of threaded sleeves  246 ,  248  has an L-shaped profile. As seen in  FIG. 9 , threaded sleeve  246  defines first and second bores  246   a ,  246   b  therethrough with first bore  246   a  being threaded and second bore  246   b  being smooth. Similarly, threaded sleeve  248  defines first and second bores  248   a ,  248   b  therethrough with first bore  248   a  being threaded and second bore  248   b  being smooth. Each of the pair of sleeve assemblies  240   a ,  240   b  is arranged so that threaded bores  246   a ,  248   a  receive a threaded screw  244   a  such that first thread portion  244   c  threadably engages threaded bore  246   a  and such that second thread portion  244   d  threadably engages threaded bore  248   a . Each of the pair of sleeve assemblies  240   a ,  240   b  is also arranged so that smooth bores  246   b ,  248   b  of threaded sleeves  246 ,  248  receive distal portion  242   c  of support shaft  242  such that threaded sleeves  246 ,  248  move axially along distal portion  242   c  of support shaft  242 . In embodiments, threaded sleeve  246  of sleeve assembly  240   a  can be disposed in mirrored relation with threaded sleeve  246  of sleeve assembly  240   b.    
     As seen in  FIG. 8 , each of the pair of threaded sleeves  246 ,  248  define shaft-receiving channels  246   c ,  248   c  and cable-receiving channels  246   d ,  248   d  in side surfaces thereof. Each of the pair of threaded sleeves  246 ,  248  is coupled to one of the plurality of cables  260  by a cable ferrule  262  connected to a proximal end of each of the plurality of cables  260 . Cable-receiving channels  246   d ,  248   d  receive cable ferrule  262  of one of the plurality of cables  260  therein to secure one of the plurality of cables  260  to each of the pair of threaded sleeves  246 ,  248 . 
     With reference to  FIGS. 10A-13 , each of the plurality of cables  260  extends distally to a retaining ball  262  (see  FIG. 13 ) to secure the distal end of the first, second, third, and fourth cables  260   a - 260   d  to gimbal  250 . Each opposite pair of the plurality of cables  260  can have two cables that are secured to gimbal  250  at locations 180 degrees apart (e.g., first and fourth cables  260   a ,  260   d  or second and third cables  260   b ,  260   c ). 
     As seen in  FIG. 6 , each opposite pair of the plurality of cables  260  has proximal ends that connect to the pair of threaded sleeves  246 ,  248  on the same threaded screw  244 . Thus, the proximal end of the first and fourth cables  260   a ,  260   d  connect to one threaded screw  244 , and the proximal end of the second and third cables  260   b ,  260   c  connect to the other threaded screw  244 . It is contemplated that one or more of the plurality of cables can criss-cross within outer tube  204 . 
     Referring again to  FIGS. 10A-13 , gimbal  250  has a proximal portion  250   a  with a generally rounded shape and a distal portion  250   b  extending from proximal portion  250   a . Proximal portion  250   a  defines a plurality of ball-retaining slots  252  (e.g., four) in a distal outer surface thereof so that each ball-retaining slot of the plurality of ball-retaining slots  252  is dimensioned to receive one of retaining balls  262  of the plurality of cables  260  to secure each of the plurality of cables  260  to gimbal  250 . 
     Proximal portion  250   a  of gimbal  250  includes a plurality of spaced apart wings  254  that extend from an outer surface thereof. Each wing of the plurality of spaced-apart wings  254  includes a top surface  254   a  and side surfaces  254   b . Side surfaces  254   b  of adjacent wings of the plurality of spaced-apart wings  254  define a plurality of slots  256  about the outer surface of proximal portion  250   a . The plurality of slots  256 , which are configured to receive the plurality of cables  260 , are in communication with the plurality of ball-retaining slots  252  and extend proximally therefrom. 
     Distal portion  250   b  of gimbal  250  includes a tubular shaft  251  having a flange  253  extending outwardly from an outer surface of tubular shaft  251 . Proximal and distal portions  250   a ,  250   b  of gimbal  250  define a gimbal bore  258  (see  FIGS. 11-12 ) that extends therethrough and includes first section  258   a  defined by inner surfaces of distal portion  250   b  and a second section  258   b  defined by inner surfaces of proximal portion  250   a.    
     Referring to  FIG. 14 , a firing assembly  270  is supported within housing  202  and outer tube  204  of adapter assembly  200 . Firing assembly  270  includes an input socket  272  adapted to couple to rotatable drive shaft  106   b  of housing handle  102  (see  FIG. 1A ), a proximal firing shaft  274  extending distally from input socket  272 , a central tube  275  extending distally from the proximal firing shaft  274 , and a distal firing shaft  276  extending distally from central tube  275 . Proximal firing shaft  274  and central tube  275  intersect at proximal universal joint  271 , and central tube  275  and distal firing shaft  276  intersect at distal universal joint  273 . 
     With continued reference to  FIG. 14 , a housing bearing member  280  supports a proximal end of proximal firing shaft  274  within proximal housing  202   a , and proximal and distal mounting members  282 ,  284  support a distal end of proximal firing shaft  274  within outer tube  204 . Housing bearing member  280  includes a thrust bearing  283  that receives proximal firing shaft  274  therethrough to enable proximal firing shaft  274  to rotate. Proximal mounting member  282  defines a central passage  282   a  therethrough that receives the proximal firing shaft  274 . 
     As seen in  FIGS. 10A, 14, and 15 , distal mounting member  284  includes a proximal section  284   a  and a distal section  284   b . Proximal section  284   a  defines a pair of slots  284   c  and a pair of screw openings  284   d  therethrough, with each of the pair of slots  284   c  and the pair of screw openings  284   d  disposed on opposed top and bottom surfaces. The pair of slots  284   c  receives a respective pair of pins  285   a  to secure distal mounting member  284  about a recess  274   g  defined in proximal firing shaft  274  to allow rotation of proximal firing shaft  274  relative to pins  285   a . Distal section  284   b  of distal mounting member  284  includes an inner surface  284   e  that defines a hemispherical opening  284   f  that receives a proximal portion of proximal universal joint  271  to enable articulation of proximal universal joint  271  about at least two axes orthogonal to longitudinal axis “X” upon articulation of gimbal  250 . Distal mounting member  284  includes an outer surface  284   g  that defines a plurality of recesses  284   h  (e.g., four), with each of the recesses  284   h  dimensioned to receive one of the plurality of cables  260  extending from between gimbal  250  and the pair of sleeve assemblies  240   a ,  240   b . In embodiments, recesses  284   h  have a distal tapered portion  284   i  to enable cable  260  extending therethrough to move over an increased range of motion during articulation of gimbal  250 . 
     With continued reference to  FIGS. 10A, 10B, 14, and 15 , proximal firing shaft  274  includes a proximal end portion  274   a  that is received in a distal end of input socket  272 , a body portion  274   b  extending distally from proximal end portion  274   a , and a distal end portion  274   c  having a hemispherical shape that extends distally from body portion  274   b . Distal end portion  274   c  includes a bore  274   d  defined therein and a pair of opposed distal tabs  274   e  that form a first hinge  271   a  of proximal universal joint  271 . Each of the distal tabs  274   e  has an inner arcuate surface  274   f  in which outer arcuate surfaces  277   a ,  277   b  of a proximal bearing assembly  277  are disposed. Outer arcuate surfaces  277   a ,  277   b  are complementary in shape with inner arcuate surfaces  274   f  In embodiments, inner arcuate surfaces  274   f  are concave surfaces and outer arcuate surfaces  277   a ,  277   b  are convex surfaces. Proximal bearing assembly  277  includes a ring-shaped body  277   f  including a plurality of outer arcuate surfaces  277   a - 277   d  extending from an outer surface  277   g  of ring-shaped body  277   f . An inner surface  277   h  of ring-shaped body  277   f  defines an opening  277   e  therethrough. 
     Central tube  275  includes proximal and distal end portions  275   a ,  275   c  each having a hemispherical shape and a body portion  275   b  extending between proximal and distal end portions  275   a ,  275   c . Central tube  275  defines a bore  275   d  extending longitudinally therethrough. Proximal end portion  275   a  of central tube  275  includes a pair of opposed proximal tabs  275   e  that form a second hinge  271   b  of proximal universal joint  271 . The pair of opposed proximal tabs  275   e  are maintained at about a 90° angle with respect to the pair of opposed distal tabs  274   e  of proximal firing shaft  274 . Each of the proximal tabs  275   e  has an inner arcuate surface  275   f  in which outer arcuate surfaces  277   c ,  277   d  of proximal bearing assembly  277  are disposed. First and second hinges  271   a ,  271   b  are pivotable about proximal bearing assembly  277  independent of each other about at least two orthogonal axes and are rotatable together about longitudinal axis “X.” Distal end portion  275   c  of central tube  275  includes a pair of opposed distal tabs  275   g  that form a first hinge  273   a  of distal universal joint  273 . Each of the distal tabs  275   g  of central tube  275  has an inner arcuate surface  275   h  in which outer arcuate surfaces  279   a ,  279   b  of a distal bearing assembly  279  are disposed. Similar to proximal bearing assembly  277 , distal bearing assembly  279  includes a ring-shaped body  279   f  including a plurality of outer arcuate surfaces  279   a - 279   d  extending from an outer surface  279   g  of ring-shaped body  279   f  An inner surface  279   h  of ring-shaped body  279   f  defines an opening  279   e  therethrough. 
     Distal firing shaft  276  includes a proximal end portion  276   a  having a hemispherical shape, a body portion  276   b  extending distally from proximal end portion  276   a  and defining a ledge  276   g  that is recessed from an outer surface thereof, and a distal end portion  276   c  extending distally from body portion  276   b . Proximal end portion  276   a  includes a bore  276   d  defined therein and a pair of opposed proximal tabs  276   e  that form a second hinge  273   b  of distal universal joint  273 . The pair of opposed proximal tabs  276   e  of the distal firing shaft  276  are maintained at about a 90° angle with respect to the pair of opposed distal tabs  275   g  of central tube  275 . Each of the proximal tabs  276   e  has an inner arcuate surface  276   f  in which outer arcuate surfaces  279   c ,  279   d  of distal bearing assembly  279  are disposed. Distal universal joint  273  is substantially the same as proximal universal joint  271  and is formed by first and second hinges  273   a ,  273   b  that are interconnected by distal bearing assembly  279  such that first and second hinges  273   a ,  273   b  are pivotable about distal bearing assembly  279  independently of each other and are rotatable together. 
     Bore  274   d  defined in distal end portion  274   c  of proximal firing member  274  cooperates with each of opening  277   e  defined in proximal bearing assembly  277 , bore  275   d  defined through central tube  275 , opening  279   e  defined in distal bearing assembly  279 , and bore  276   d  defined in proximal end portion  276   a  of distal firing shaft  276  to receive a spring wire  290 . Spring wire  290  is formed from resilient metals and/or polymers, such as nitinol, spring stainless steel, alloys thereof, and the like. Spring wire  290  is configured to bias the firing assembly  270  along longitudinal axis “X” and is bendable upon articulation of gimbal  250 . 
     As seen in  FIGS. 3, 10A, and 15 , distal end portion  2040  of outer tube  204  includes a first segment  2042 , a second segment  2044 , a third segment  2046 , and a fourth segment  2048 . 
     First segment  2042  of distal end portion  2040  of outer tube  204  defines a pair of screw openings  2042   a ,  2042   b  that correspond with the pair of screw openings  284   d  of distal mounting member  284 . The pair of screw openings  2042   a ,  2042   b  of first segment  2042  and the pair of screw openings  284   d  of distal mounting member  284  receive a pair of screws  204   a ,  204   b  to secure proximal section  284   a  of distal mounting member  284  within an opening  2042   c  defined within a distal end of first segment  2042 . 
     Second segment  2044  of distal end portion  2040  of outer tube  204  includes first and second shell halves  2044   a  and  2044   b  that matingly engage each other, for example, by snap or friction fit, around proximal and distal universal joints  271 ,  273 . A proximal section  2044   c  of second segment  2044  is secured within hemispherical opening  284   f  of distal mounting member  284  and is rotatable therein. A distal section  2044   d  of second segment  2044  is configured to receive distal portion  250   b  of gimbal  250  which is disposed around distal universal joint  273 . Second segment  2044  further includes a plurality of openings  2044   e  configured to receive cables  260  extending from gimbal  250  proximally toward the pair of threaded sleeves  246 ,  248 . 
     Third segment  2046  of distal end portion  2040  of outer tube  204  has a cylindrical body  2046   a  that mounts over proximal section  2044   c  of second segment  2044 . Third segment  2046  includes a U-shaped shoe  2046   b  that extends distally from a distal surface of cylindrical body  2046   a . A central channel  2046   c  is defined through U-shaped shoe  2046   b  and cylindrical body  2046   a , and is configured to receive distal section  2044   d  of second segment  2044  which is rotatable therein. 
     Fourth segment  2048  of distal end portion  2040  of outer tube  204  includes a pair of arms  2048   a ,  2048   b  that extends from fourth segment  2048 . The pair of arms  2048   a ,  2048   b  are disposed in spaced apart and mirrored relation to one another. A pair of screw openings  2048   c ,  2048   d  is defined in fourth segment  2048  and are aligned with a pair of screw bores  2046   d ,  2046   e  defined within third segment  2046  so that a pair of screws  204   e ,  204   f  can be received by the pair of screw openings  2048   c ,  2048   d  of the fourth segment  2048  and the pair of screw bores  2046   d ,  2046   e  of the third segment  2046  to secure third and fourth segments  2046 ,  2048  together. Fourth segment  2048  defines a plunger opening  2048   e  that receives a plunger assembly  2060  of distal end portion  2040  of outer tube  204 . 
     Plunger assembly  2060  includes a plunger  2060   a  that is biased through plunger opening  2048   e  by a spring  2060   b  (see  FIG. 15 ). Plunger assembly  2060  and the pair of arms  2048   a ,  2048   b  cooperate to facilitate securement of the proximal end of loading unit  300  to distal end portion  2040 , as described in greater detail below (see  FIGS. 17A and 17B ). 
     As illustrated in  FIG. 10A , a tongue  2048   f  depends from fourth segment  2048  and defines an opening  2048   g  therethrough that receives distal tip  276   c  of distal firing shaft  276  therethrough. Tongue  2048   f  supports a gear  2050  between a proximal surface of tongue  2048   f  and a distal surface of U-shaped shoe  2046   b  of third segment  2046  so that teeth  2050   a  extending from gear  2050  are positioned between mating surfaces  2048   h  of each of the pair of arms  2048   a ,  2048   b  of fourth segment  2048  of distal end portion  2040  of outer tube  204 . 
     Inner surfaces of gear  2050  define a channel  2050   b  therethrough. Inner surfaces of gear  2050  include a flat surface  2050   c  (see  FIG. 15 ) that is supported on ledge  276   f  of distal firing shaft  276  such that gear  2050  and distal firing shaft  276  are keyed to one another. 
     Turning now to  FIG. 16 , loading unit  300  includes an anvil  310  and a cartridge assembly  320  that are pinned together by a pair of pins  315   a ,  315   b  and movable between open and closed conditions. Anvil  310  and cartridge assembly  320  cooperate to apply a plurality of linear rows of fasteners “F” (e.g., staples). In certain embodiments, the fasteners “F” are of various sizes, and, in certain embodiments, the fasteners “F” have various lengths or rows, e.g., about 30, 45 and 60 mm in length. 
     Cartridge assembly  320  includes a base  322  secured to a mounting portion  324 , a frame portion  326 , and a cartridge portion  328  defining a plurality of fastener retaining slots  328   a  and a knife slot  328   b  in a tissue engaging surface thereof. Mounting portion  324  has mating surfaces  324   a ,  324   b  on a proximal end thereof and defines a receiving channel  324   c  therein that supports frame portion  326 , cartridge portion  328 , and a fastener firing assembly  330  therein. Cartridge assembly  320  supports a biasing member  340  that engages anvil  310 . 
     Fastener firing assembly  330  includes an electrical contact member  332  in electrical communication with the circuit board of surgical device  100  ( FIG. 1A ), a bearing member  334 , a gear member  336  that engages gear  2050  of distal end portion  2040  of outer tube  204 , and a screw assembly  338 . Screw assembly  338  includes a lead screw  338   a , a drive beam  338   b , and an actuation sled  338   c  that is engagable with a plurality of pusher members  338   d.    
     Cartridge assembly  320  also supports a pair of plunger assemblies  350   a ,  350   b . Each of the pair of plunger assemblies  350   a ,  350   b  includes a spring  352 , a plunger  354 , and a pin  356  that secures each plunger assembly to mounting portion  324 . Plunger assemblies  350   a ,  350   b  cooperate with the proximal end of cartridge portion  328  to facilitate securement of cartridge portion  328  within mounting portion  324 . 
     In order to secure the proximal end of loading unit  300  to distal end portion  2040  of outer tube  204 , the proximal end of loading unit  300  is aligned with distal end portion  2040  of outer tube  204  as seen in  FIG. 17A  so that the proximal end of loading unit  300  can be snapped together with distal end portion  2040  as seen in  FIG. 17B . Referring also to  FIGS. 10A and 16 , mating surfaces  324   a ,  324   b  of loading unit  300  engage with mating surfaces  2048   h  of fourth segment  2048  so that the teeth of gear member  336  of loading unit  300  enmesh with the teeth of gear  2050 . 
     In operation, actuation of knob  205   d  of joystick  205   c  causes rocker  205   e  to contact one or more of the directional switches  205   b  such that the direction of movement of the joystick  205   c  causes a corresponding movement in articulation assembly  230 . Directional switches  205   b  are in operable communication with sensor(s) of articulation contact surface  105  to communicate with the circuit board, activate one or both of rotatable drive shafts  106   a ,  106   c  (due to an actuation of a motor (not shown) within handle housing  102 ), and effectuate rotation of threaded screw assembly  244  of one or both of the pair of sleeve assemblies  240   a ,  240   b . In particular, rotation of each threaded screw assembly  244  is effectuated by virtue of rotational engagement between input socket  244   b  of one of the pair of sleeve assemblies  240   a ,  240   b  and one of rotatable drive shafts  106   a ,  106   c . Rotation of threaded screw  244   a  axially moves the pair of threaded sleeves  246 ,  248  along the respective support shaft between an approximated condition (see  FIG. 9 ) and a separated condition (see  FIG. 4 ), as illustrated by lines “C 1 ,” “C 2 ,” “C 3 ,” and “C 4 ” shown in  FIG. 7 . Relative axial movement of the pair of threaded sleeves  246 ,  248  proximally draws/retracts/tightens one/a first cable of one of the opposite pairs of cables (e.g., first cable  260   a  and fourth cable  260   d  being a first opposite pair of cables, and second cable  260   b  and third cable  260   c  being a second opposite pair of cables) of the plurality of cables  260  and distally lets out/extends/releases another/a second cable of one of the opposite pairs of cables to rotate/pivot/articulate gimbal  250 . 
     Rotation of gimbal  250  causes a corresponding directional movement in proximal and distal universal joints  271 ,  273 . As gimbal  250  rotates, distal portion  250   b  of gimbal  250  engages cylindrical body  2046   a  and/or U-shaped shoe  2046   b  of third segment  2046  to articulate distal end portion  2040  relative to outer tube  204  about longitudinal axis “X.” Movement of distal end portion  2040  articulates loading unit  300  relative to outer tube  204  about longitudinal axis “X” in any direction (e.g., omni-directionally) as seen in  FIGS. 18-20 . More particularly, while longitudinally fixed to first segment  2042  of distal end portion  2040  of outer tube  204 , loading unit  300 , as well as second, third, and fourth segments  2044 ,  2046 ,  2048  of distal end portion  2040 , can be articulated in any direction relative to the “X” axis. Specifically, loading unit  300  can articulate about the “Y 1 ” and/or the “Z 1 ” axes that extend from a proximal central point “P 1 ”, and/or about the “Y 2 ” and/or the “Z 2 ” axes that extend from a distal central point “P 2 ” defined in distal end portion  2040  to position loading unit  300  at any desired orientation. 
     Tension/slack in one or more of the plurality of cables  260  may need to be adjusted, for example, before, during, and/or after one or more uses of system  10 . To effectuate a tightening and/or loosening of slack/tension during manufacturing or re-conditioning, a tool (not shown) is connected to each screw  243  (see  FIG. 4 ) to impart rotational movement to one or both of screws  243 . Rotation of screws  243  causes one or both of the respective support shafts  242  to axially translate. Thus, rotation of one or both screws  243  adjusts tension in one or more of the plurality of cables  260  by moving one or both of the plurality of the pair of sleeve assemblies  240   a ,  240   b  as described above. 
     To fire the plurality of fasteners “F,” actuation pad  108  of device  100  is actuated to rotate rotatable drive member  106   b  (due to an activation of a motor (not shown) within handle housing  102 ). Rotation of rotatable drive member  106   b  causes proximal firing shaft  274 , central tube  275 , and distal firing shaft  276  to rotate together about longitudinal axis “X” such that gear  2050  rotates gear  336  of loading unit  300 . Rotation of gear  336  of loading unit  300  rotates lead screw  338   a  and enables drive beam  338   b  to axially advance along lead screw  338   a  and through longitudinal knife slot  328   b  by virtue of the threaded engagement between lead screw  338   a  and drive beam  338   b . Drive beam  338   b  engages anvil  310  to maintain anvil and cartridge assembly  310 ,  320  in approximation. Distal advancement of drive beam  338   b  advances actuation sled  338   c  into engagement with the plurality of pusher members  328  and fires the plurality of fasteners “F” from the plurality of fastener retention slots  328   a  for forming against corresponding fastener forming pockets defined within anvil  310 . Loading unit  300  can be reset and fastener cartridge  328  can be replaced so that loading unit  300  can then be re-fired as desired. 
     While certain embodiments have been described, other embodiments are possible. 
     For example, other configurations of proximal and distal universal joints of the firing assembly of adapter assemblies of the present disclosure are additionally or alternatively possible. With reference now to  FIG. 21 , an embodiment of a firing assembly  270 ′ is substantially similar to firing assembly  270  except that proximal and distal bearing assemblies  277 ′ and  279 ′ include a plurality of ball bearings  277   a ′- 277   d ′ and  279   a ′- 279   d ′, respectively, that are welded together and define an opening  277   e ′ and  279   e ′ therethrough. Accordingly, each ball bearing defines an outer arcuate surface that is complementary in shape with inner arcuate surfaces of proximal and distal tabs as described above. 
     Moreover, while proximal and distal tabs and proximal and distal bearing assemblies have been described as including complementary inner and outer arcuate surfaces, it should be appreciated that the tabs may include any surface geometry complementary with the geometry of the bearing assemblies to allow articulation of the joints about at least two axes as also described above. 
     Any of the components described herein may be fabricated from either metals, plastics, resins, composites or the like taking into consideration strength, durability, wearability, weight, resistance to corrosion, ease of manufacturing, cost of manufacturing, and the like. 
     In embodiments, any of the components described herein, such as the loading unit and/or adapter, can include one or more microchips, such as, for example a one-wire microchip (e.g., microchip model nos. DS2465, DS28E15, and/or DS2432, available from MAXIM INTEGRATED™, San Jose, Calif.) that electrically couple to the circuit board/controller of surgical device  100 . Exemplary one-wire microchips are shown and described in U.S. Pat. No. 6,239,732, the entire content of which is incorporated herein by reference. Any of these chips can include encrypted authentication (e.g., SULU ID) and/or may be one wire compatible. 
     Persons skilled in the art will understand that the structures and methods specifically described herein and shown in the accompanying figures are non-limiting exemplary embodiments, and that the description, disclosure, and figures should be construed merely as exemplary of particular embodiments. It is to be understood, therefore, that the present disclosure is not limited to the precise embodiments described, and that various other changes and modifications may be effected by one skilled in the art without departing from the scope or spirit of the disclosure. Additionally, the elements and features shown or described in connection with certain embodiments may be combined with the elements and features of certain other embodiments without departing from the scope of the present disclosure, and that such modifications and variations are also included within the scope of the present disclosure. Accordingly, the subject matter of the present disclosure is not limited by what has been particularly shown and described.