A surgical tool comprising: an actuation portion; an end effector; an instrument shaft assembly coupling the actuation portion to the end effector, wherein the instrument shaft assembly is elongated along an instrument shaft axis and defining a lumen, the instrument shaft assembly including a guide surface disposed towards a distal end of the lumen; an actuation rod assembly drivingly coupled with the end effector, the actuation rod assembly being slideably mounted within the lumen for translation relative to the instrument shaft assembly along the instrument shaft axis; a flexible tension member having a first segment and a second segment; the flexible tension member first segment drivingly coupling the actuation portion to the actuation rod assembly; wherein the flexible tension member first segment is fixedly attached to the actuation rod assembly at a connection that is longitudinally disposed between the actuation portion and the guide surface; wherein the flexible tension member first segment extends distally from the connection towards the guide surface, wraps around the guide surface, and extends proximally towards the actuation portion, and wherein the actuation portion is operable to increase tension in the flexible tension member first segment to translate the actuation rod assembly in a distal direction; and the flexible tension member second segment fixedly attached to the actuation rod assembly at the connection and extending proximally to the actuation portion, wherein the actuation portion is drivingly coupled with the flexible tension member second segment and operable to increase tension in the flexible tension member second segment to move the actuation rod assembly in a proximal direction. an actuation portion; an end effector; an instrument shaft assembly coupling the actuation portion to the end effector, wherein the instrument shaft assembly is elongated along an instrument shaft axis and defining a lumen, the instrument shaft assembly including a guide surface disposed towards a distal end of the lumen; an actuation rod assembly drivingly coupled with the end effector, the actuation rod assembly being slideably mounted within the lumen for translation relative to the instrument shaft assembly along the instrument shaft axis; a flexible tension member having a first segment and a second segment; the flexible tension member first segment drivingly coupling the actuation portion to the actuation rod assembly; wherein the flexible tension member first segment is fixedly attached to the actuation rod assembly at a connection that is longitudinally disposed between the actuation portion and the guide surface; wherein the flexible tension member first segment extends distally from the connection towards the guide surface, wraps around the guide surface, and extends proximally towards the actuation portion, and wherein the actuation portion is operable to increase tension in the flexible tension member first segment to translate the actuation rod assembly in a distal direction; and the flexible tension member second segment fixedly attached to the actuation rod assembly at the connection and extending proximally to the actuation portion, wherein the actuation portion is drivingly coupled with the flexible tension member second segment and operable to increase tension in the flexible tension member second segment to move the actuation rod assembly in a proximal direction.