A drive assembly for an adapter assembly of a surgical device includes an input shaft, a middle shaft, and an output shaft. The input shaft includes a proximal portion configured for operable engagement with a drive member of a handle assembly and a distal portion including a first castellated portion. The middle shaft includes a proximal portion having a first lobed portion in operable engagement with the first castellated portion of the input shaft, and a distal portion having a second lobed portion. The output shaft includes a proximal portion having a second castellated portion in operable engagement with the second lobed portion.

A reciprocating motion insertion tool include a flexible section, an end effector actuator, a connector within the flexible section and coupled to the end effector actuator, and an end effector coupled to a distal end of the flexible section, wherein the end effector is configured to move in a reciprocating motion at a select reciprocation rate when driven by the end effector actuator.