A surgical device comprising: an elongated shaft extending along a first axis; an end effector comprising an upper jaw and a lower jaw; a wrist assembly moveably connecting the end effector to the elongated shaft, the wrist assembly comprising: a first outer link connected to the elongated shaft and comprising first gear teeth; a first inner link pivotally coupled with the first outer link to rotate relative to the first outer link around a second axis oriented perpendicular to the first axis; a second outer link pivotally coupled with the first inner link to rotate relative to the first inner link around a third axis parallel to the second axis and offset from the second axis, the second outer link comprising second gear teeth that interface with the first gear teeth and control orientation of the first inner link relative to the first outer link and the second outer link throughout a range of orientations of the second outer link relative to the first outer link; a second inner link pivotally coupled with the second outer link to rotate relative to the second outer link around a fourth axis oriented perpendicular to the first axis and to the third axis; and a third outer link pivotally coupled with the second inner link to rotate relative to the second inner link around a fifth axis parallel to the fourth axis and offset from the fourth axis, the third outer link comprising gear teeth that interface with gear teeth of the second outer link and control orientation of the second inner link relative to the third outer link and the second outer link throughout a range of orientations of the third outer link relative to the second outer link; and an elongated drive member drivingly coupled with the end effector to actuate a mechanism of the end effector; characterised in that the first inner link forms a first aperture, the second inner link forms a second aperture and the elongated drive member extends through the first aperture and the second aperture. an elongated shaft extending along a first axis; an end effector comprising an upper jaw and a lower jaw; a wrist assembly moveably connecting the end effector to the elongated shaft, the wrist assembly comprising: a first outer link connected to the elongated shaft and comprising first gear teeth; a first inner link pivotally coupled with the first outer link to rotate relative to the first outer link around a second axis oriented perpendicular to the first axis; a second outer link pivotally coupled with the first inner link to rotate relative to the first inner link around a third axis parallel to the second axis and offset from the second axis, the second outer link comprising second gear teeth that interface with the first gear teeth and control orientation of the first inner link relative to the first outer link and the second outer link throughout a range of orientations of the second outer link relative to the first outer link; a second inner link pivotally coupled with the second outer link to rotate relative to the second outer link around a fourth axis oriented perpendicular to the first axis and to the third axis; and a third outer link pivotally coupled with the second inner link to rotate relative to the second inner link around a fifth axis parallel to the fourth axis and offset from the fourth axis, the third outer link comprising gear teeth that interface with gear teeth of the second outer link and control orientation of the second inner link relative to the third outer link and the second outer link throughout a range of orientations of the third outer link relative to the second outer link; and a first outer link connected to the elongated shaft and comprising first gear teeth; a first inner link pivotally coupled with the first outer link to rotate relative to the first outer link around a second axis oriented perpendicular to the first axis; a second outer link pivotally coupled with the first inner link to rotate relative to the first inner link around a third axis parallel to the second axis and offset from the second axis, the second outer link comprising second gear teeth that interface with the first gear teeth and control orientation of the first inner link relative to the first outer link and the second outer link throughout a range of orientations of the second outer link relative to the first outer link; a second inner link pivotally coupled with the second outer link to rotate relative to the second outer link around a fourth axis oriented perpendicular to the first axis and to the third axis; and a third outer link pivotally coupled with the second inner link to rotate relative to the second inner link around a fifth axis parallel to the fourth axis and offset from the fourth axis, the third outer link comprising gear teeth that interface with gear teeth of the second outer link and control orientation of the second inner link relative to the third outer link and the second outer link throughout a range of orientations of the third outer link relative to the second outer link; and an elongated drive member drivingly coupled with the end effector to actuate a mechanism of the end effector; characterised in that the first inner link forms a first aperture, the second inner link forms a second aperture and the elongated drive member extends through the first aperture and the second aperture.