Abstract: A fastening device, comprising an inner tube comprising a proximal end and a distal end and at least one fastener positioned within the inner tube and adapted to advance linearly towards the distal end of the inner tube, and an advancing element which converts rotational motion to linear pushing force on the fastener. In some embodiments of the invention, at least one fastener is adapted to not rotate at all or to rotate at a rate not necessarily the same as any other fasteners or any other elements during linear advancement.

Abstract: An articulating medical instrument comprising of: a substantially straight proximal segment; a substantially straight distal segment; an articulation mechanism having a straight configuration in which the proximal and distal segments form a substantially straight line and at least one articulated configuration in which the proximal and distal segments form an articulation angle of less than 180 degrees between the segments, the articulation mechanism being configured for increasing or decreasing the articulation angle; and one or more drive mechanisms configured for transferring force from the proximal segment to the distal segment, wherein the drive mechanism does not follow substantially straight lines between the proximal and distal segments passing through the apex of the articulation angle.

Abstract: A fastening device, comprising an inner tube comprising a proximal end and a distal end and at least one fastener positioned within the inner tube and adapted to advance linearly towards the distal end of the inner tube, and an advancing element which converts rotational motion to linear pushing force on the fastener. In some embodiments of the invention, at least one fastener is adapted to not rotate at all or to rotate at a rate not necessarily the same as any other fasteners or any other elements during linear advancement.