Medical device actuators

A linkage assembly for a medical device, the linkage assembly comprising:

• a rotatable member configured to rotate about a rotation axis;
• a connecting rod rotatably connected to the rotatable member and movable along a range, wherein a first end of the range corresponds to an initial position of a distal member movable by the linkage assembly, and a second end of the range corresponds to a final position of the distal member,
• wherein the connecting rod consists of a first segment, a second segment, and a third segment, wherein the second segment is disposed between the first segment and the third segment, wherein the first segment is movably coupled to the rotatable member, wherein the third segment is a distal portion of the rotatable member,
• wherein, in a first configuration of the linkage assembly, at the first end of the range, a proximal end of the connecting rod is offset from a longitudinal axis by a first distance, wherein the longitudinal axis is perpendicular to the rotation axis,
• wherein, in the first configuration, the proximal end of the connecting rod is offset from the longitudinal axis, and the second segment is transverse to the longitudinal axis;
• wherein, in a second configuration of the linkage assembly, at the second end of the range, the proximal end of the connecting rod is offset from the longitudinal axis by a second distance, wherein the second distance is less than the first distance, the proximal end of the connecting rod is offset from the longitudinal axis of the linkage assembly, and the second segment is transverse to the longitudinal axis.