An elongate shaft instrument with a drive system comprising - two pulse generators (23, 25) oscillating substantially parallel to each other in a longitudinal direction, - an output wheel rotatably mounted about an axis of rotation for driving a movement and/or actuation of a distal component or instrument head of the shaft instrument, and - a drive wheel with limited translational movement for force-locking, form-fitting and/or integrally bonded connection to the output wheel, wherein the drive wheel can be driven by the two pulse generators (23, 25) with two elongate actuation elements (7, 9) and is oscillatable in two oscillation directions (x, y), characterised in that the actuation elements (7, 9) are each mechanically coupled to the drive wheel on the distal side via a joint system with bearing axes (L1, L2), wherein the joint system has two stationary bearing axes (L3', L3''), two movable bearing axes (L6', L6"), two control levers (39', 39"), two bearing axes (L4, L5) for coupling the joint system to the drive wheel, two levers (27, 35) each oriented parallel to the longitudinal axis, which are each formed between one of the two bearing axes (L4, L5) and one of the movable bearing axes (L6', L6''), and wherein the levers (27, 35) are each at a fixed angle to one of the control levers (39', 39"), two coupling levers (29, 37) and two slot guides (41', 41"), wherein the respective slot guide (41', 41") follows a circular portion around the respective movable bearing axis (L6', L6''), the radius of which corresponds to the distance of the movable bearing axis (L6', L6'') from the fixed bearing axis (L3', L3''), so that the respective levers (27, 35) are each movable substantially in the longitudinal direction, and in that the bearing axes (L4, L5) are rotatable about the respective movable bearing axis (L6', L6") to couple the joint system to the drive wheel, and wherein the respective control lever (39', 39") extends from the respective bearing axis (L1, L2) to the respective movable bearing axis (L6', L6''), and wherein the respective coupling lever (29, 37) extends from the respective fixed bearing axis (L3', L3'') to the respective movable bearing axis (L6', L6''), wherein the two coupling levers (29, 37) are toothed with one another in such a way that the bearing axes (L6', L6") are always arranged symmetrically to the longitudinal direction. - two pulse generators (23, 25) oscillating substantially parallel to each other in a longitudinal direction, - an output wheel rotatably mounted about an axis of rotation for driving a movement and/or actuation of a distal component or instrument head of the shaft instrument, and - a drive wheel with limited translational movement for force-locking, form-fitting and/or integrally bonded connection to the output wheel, wherein the drive wheel can be driven by the two pulse generators (23, 25) with two elongate actuation elements (7, 9) and is oscillatable in two oscillation directions (x, y), characterised in that the actuation elements (7, 9) are each mechanically coupled to the drive wheel on the distal side via a joint system with bearing axes (L1, L2), wherein the joint system has two stationary bearing axes (L3', L3''), two movable bearing axes (L6', L6"), two control levers (39', 39"), two bearing axes (L4, L5) for coupling the joint system to the drive wheel, two levers (27, 35) each oriented parallel to the longitudinal axis, which are each formed between one of the two bearing axes (L4, L5) and one of the movable bearing axes (L6', L6''), and wherein the levers (27, 35) are each at a fixed angle to one of the control levers (39', 39"), two coupling levers (29, 37) and two slot guides (41', 41"), wherein the respective slot guide (41', 41") follows a circular portion around the respective movable bearing axis (L6', L6''), the radius of which corresponds to the distance of the movable bearing axis (L6', L6'') from the fixed bearing axis (L3', L3''), so that the respective levers (27, 35) are each movable substantially in the longitudinal direction, and in that the bearing axes (L4, L5) are rotatable about the respective movable bearing axis (L6', L6") to couple the joint system to the drive wheel, and wherein the respective control lever (39', 39") extends from the respective bearing axis (L1, L2) to the respective movable bearing axis (L6', L6''), and wherein the respective coupling lever (29, 37) extends from the respective fixed bearing axis (L3', L3'') to the respective movable bearing axis (L6', L6''), wherein the two coupling levers (29, 37) are toothed with one another in such a way that the bearing axes (L6', L6") are always arranged symmetrically to the longitudinal direction.