To provide
robot-controlled surgical tools. [Solution] The device comprises an elongated shaft, a pull wire, a device base including a drive input
assembly, and an adapter connectable to the device base, the adapter including an
actuator, a coupler operably coupled to the
actuator and connectable to the drive input
assembly, the coupler having a gear
assembly engageable with the
actuator, and a tension mechanism configured to disengage the gear assembly from the actuator, wherein the actuator is operable to adjust the tension of the pull wire by operating the coupler while the gear assembly is engaged with the actuator, and the tension mechanism is operable to adjust the tension of the pull wire by operating the coupler while the gear assembly is disengaged from the actuator.