A medical device, comprising: a shaft (5410, 7410, 8410, 9410, 11410), a joint assembly, a band (2420, 3420, 4420, 5420, 6420, 7420, 8420, 9420, 10420, 11420), and a tool member (2462, 3462, 4462, 5462, 6462, 7462, 8462, 9462, 10462, 11462); the joint assembly (5500, 6500, 7500, 8500, 9500, 10500, 11500) including a proximal end portion and a distal end portion, and the proximal end portion being coupled to the shaft (5410, 7410, 8410, 9410, 11410); the tool member including a contact portion (4464, 5464, 6464, 7464, 8464, 9464 11464) and a coupling portion (5680, 7680, 8680, 9680, 10680, 11680), the contact portion being configured to contact a target tissue, and the coupling portion being rotatably coupled to the distal end portion of the joint assembly; the band including a first band portion (5421, 6421, 7421) and a second band portion (5422, 6422, 7422), a longitudinal center line of the band being defined along the band, the first band portion being within the shaft, the second band portion being coupled to the tool member, the first band portion having a first cross-sectional area in a first plane normal to the longitudinal center line of the band, the second band portion having a second cross-sectional area in a second plane normal to the longitudinal center line of the band, and the second cross-sectional area being different than the first cross-sectional area, wherein the first cross sectional area is greater than the second cross-sectional area, wherein the band includes a third band portion between the first band portion and the second band portion, and the third band portion tapers from the first cross-sectional area to the second cross-sectional area; and the tool member rotatable relative to the joint assembly about a rotation axis as the band is moved along the longitudinal center line of the band. a shaft (5410, 7410, 8410, 9410, 11410), a joint assembly, a band (2420, 3420, 4420, 5420, 6420, 7420, 8420, 9420, 10420, 11420), and a tool member (2462, 3462, 4462, 5462, 6462, 7462, 8462, 9462, 10462, 11462); the joint assembly (5500, 6500, 7500, 8500, 9500, 10500, 11500) including a proximal end portion and a distal end portion, and the proximal end portion being coupled to the shaft (5410, 7410, 8410, 9410, 11410); the tool member including a contact portion (4464, 5464, 6464, 7464, 8464, 9464 11464) and a coupling portion (5680, 7680, 8680, 9680, 10680, 11680), the contact portion being configured to contact a target tissue, and the coupling portion being rotatably coupled to the distal end portion of the joint assembly; the band including a first band portion (5421, 6421, 7421) and a second band portion (5422, 6422, 7422), a longitudinal center line of the band being defined along the band, the first band portion being within the shaft, the second band portion being coupled to the tool member, the first band portion having a first cross-sectional area in a first plane normal to the longitudinal center line of the band, the second band portion having a second cross-sectional area in a second plane normal to the longitudinal center line of the band, and the second cross-sectional area being different than the first cross-sectional area, wherein the first cross sectional area is greater than the second cross-sectional area, wherein the band includes a third band portion between the first band portion and the second band portion, and the third band portion tapers from the first cross-sectional area to the second cross-sectional area; and the tool member rotatable relative to the joint assembly about a rotation axis as the band is moved along the longitudinal center line of the band.