An adapter comprising: a proximal portion configured to couple to a handle ; an elongate portion extending from the proximal portion and defining a first longitudinal axis (A-A); and a distal portion supported by the elongate portion and configured to releasably couple to a tool assembly , the distal portion including a joint assembly comprising: a first support disposed along the first longitudinal axis; a second support defining a second longitudinal axis (T-T); a first drive shaft rotatably disposed along the first longitudinal axis and extending through the first support; a second drive shaft rotatably disposed along the second longitudinal axis and extending through the second support; and a first link disposed between and coupled to each of the first and second drive shafts such that the first link rotates in response to rotation of the first drive shaft and the second drive shaft rotates in response to rotation of the first link; characterised in that the joint assembly further comprises a spring cage having a first end fixed to the first support and a second end fixed to the second support, the spring cage defining a spring channel between the first and second supports such that the first link and a portion of the first and second drive shafts are disposed within the spring channel, the spring cage engaging the first link to effect uniform articulation angles of each of the first link and the second drive shaft across the joint assembly in response to articulation of the second support relative to the first support. a proximal portion configured to couple to a handle ; an elongate portion extending from the proximal portion and defining a first longitudinal axis (A-A); and a distal portion supported by the elongate portion and configured to releasably couple to a tool assembly , the distal portion including a joint assembly comprising: a first support disposed along the first longitudinal axis; a second support defining a second longitudinal axis (T-T); a first drive shaft rotatably disposed along the first longitudinal axis and extending through the first support; a second drive shaft rotatably disposed along the second longitudinal axis and extending through the second support; and a first link disposed between and coupled to each of the first and second drive shafts such that the first link rotates in response to rotation of the first drive shaft and the second drive shaft rotates in response to rotation of the first link; a first support disposed along the first longitudinal axis; a second support defining a second longitudinal axis (T-T); a first drive shaft rotatably disposed along the first longitudinal axis and extending through the first support; a second drive shaft rotatably disposed along the second longitudinal axis and extending through the second support; and a first link disposed between and coupled to each of the first and second drive shafts such that the first link rotates in response to rotation of the first drive shaft and the second drive shaft rotates in response to rotation of the first link; characterised in that the joint assembly further comprises a spring cage having a first end fixed to the first support and a second end fixed to the second support, the spring cage defining a spring channel between the first and second supports such that the first link and a portion of the first and second drive shafts are disposed within the spring channel, the spring cage engaging the first link to effect uniform articulation angles of each of the first link and the second drive shaft across the joint assembly in response to articulation of the second support relative to the first support. <EOS>