Abstract
An actuation mechanism (200) for a surgical instrument (100), comprising: - a sleeve (202) configured to receive the surgical instrument and having one or more parts (208, 210, 226), a plurality of studs (250, 252 ) being provided on the or each part, on some parts only, or distributed over the different parts; - at least two wheels (204, 206), mounted on the sleeve on either side of the part or parts, each wheel being provided with at least one groove (242) and with a transmission element (244) mechanical, said at least one groove of each wheel movably receiving in said groove one of said plurality of studs; - at least two drive shafts (212, 214), each being provided with a first mechanical transmission element (254) cooperating with the mechanical transmission element (244) of one of the wheels.