A medical device, comprising: a control handle (2, 3, 4, 1100, 1110, 1200) comprising: an instrument shaft that defines a first longitudinal axis; and an articulation joint actuator (4, 1100, 1104, 1105); a surgical end effector (1, 20, 30, 100, 310, 1002) that defines a second longitudinal axis; and a passive articulating joint (10, 50, 522, 1010, 1040, 1050, 1080, 2010, 2020, 2030, 2040) connecting said end effector (1, 20, 30, 100, 310, 1002) to said instrument shaft, wherein said articulation joint actuator (4, 1100, 1104, 1105) is connected to said passive articulating joint (10, 50, 522, 1010, 1040, 1050, 1080, 2010, 2020, 2030, 2040) and removes an articulation lock (18, 120, 1120, 1522, 2122, 2124) on said end effector (1, 20, 30, 100, 210, 310, 1002) when said articulation joint actuator (4, 1100, 1104, 1105) is actuated, wherein with said articulation lock (18, 120, 1120, 1522, 2122, 2124) removed, the passive articulating joint (10, 50, 522, 1010, 1040, 1050, 1080, 2010, 2020, 2030, 2040) allows the end effector (1, 20, 30, 100, 310, 1002) to articulate-when an external force is applied to said end effector (1, 20, 30, 100, 310, 1002); characterized in that at least one of said control handle (2, 3, 4, 1100, 1110, 1200), said end effector (1, 20, 30, 100, 310, 1002), and said passive articulating joint (10, 50, 522, 1010, 1040, 1050, 1080, 2010, 2020, 2030, 2040) has an alignment device (1012, 1016); and said alignment device (1012, 1016) center-biases said end effector (1, 20, 30, 100, 310, 1002) to substantially align said first and said second longitudinal axes when said articulation joint actuator (4, 1100, 1104, 1105) is actuated when no external force is applied to said end effector (1, 20, 30, 100, 310, 1002). a control handle (2, 3, 4, 1100, 1110, 1200) comprising: an instrument shaft that defines a first longitudinal axis; and an articulation joint actuator (4, 1100, 1104, 1105); an instrument shaft that defines a first longitudinal axis; and an articulation joint actuator (4, 1100, 1104, 1105); a surgical end effector (1, 20, 30, 100, 310, 1002) that defines a second longitudinal axis; and a passive articulating joint (10, 50, 522, 1010, 1040, 1050, 1080, 2010, 2020, 2030, 2040) connecting said end effector (1, 20, 30, 100, 310, 1002) to said instrument shaft, wherein said articulation joint actuator (4, 1100, 1104, 1105) is connected to said passive articulating joint (10, 50, 522, 1010, 1040, 1050, 1080, 2010, 2020, 2030, 2040) and removes an articulation lock (18, 120, 1120, 1522, 2122, 2124) on said end effector (1, 20, 30, 100, 210, 310, 1002) when said articulation joint actuator (4, 1100, 1104, 1105) is actuated, wherein with said articulation lock (18, 120, 1120, 1522, 2122, 2124) removed, the passive articulating joint (10, 50, 522, 1010, 1040, 1050, 1080, 2010, 2020, 2030, 2040) allows the end effector (1, 20, 30, 100, 310, 1002) to articulate-when an external force is applied to said end effector (1, 20, 30, 100, 310, 1002); characterized in that at least one of said control handle (2, 3, 4, 1100, 1110, 1200), said end effector (1, 20, 30, 100, 310, 1002), and said passive articulating joint (10, 50, 522, 1010, 1040, 1050, 1080, 2010, 2020, 2030, 2040) has an alignment device (1012, 1016); and said alignment device (1012, 1016) center-biases said end effector (1, 20, 30, 100, 310, 1002) to substantially align said first and said second longitudinal axes when said articulation joint actuator (4, 1100, 1104, 1105) is actuated when no external force is applied to said end effector (1, 20, 30, 100, 310, 1002).