An apparatus for operating on tissue, the apparatus comprising: (a) an end effector, wherein the end effector comprises an ultrasonic blade and a clamp arm, wherein the clamp arm is operable to pivot relative to the ultrasonic blade; (b) a shaft assembly, wherein the end effector is disposed at a distal end of the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly includes: (i) an articulation section operable to deflect the end effector away from the longitudinal axis, wherein the articulation section comprises a first articulation band (140, 142), wherein the first articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis; and (ii) a translating member, (c) an interface assembly, wherein the interface assembly is configured to drive the end effector, wherein the interface assembly comprises: (i) a base, wherein the base is configured to couple with a dock of a robotic control system, (ii) a plurality of drive shafts oriented perpendicular to the longitudinal axis, wherein a first drive shaft of the plurality of drive shafts is rotatable to pivot the clamp arm toward the ultrasonic blade, and a second drive shaft of the plurality of drive shafts is rotatable to translate the first articulation band, the translating member coupled between the first drive shaft and the clamp arm, (iii) a first eccentric cam secured to the first drive shaft, (iv) a second eccentric cam (246, 248) secured to the second drive shaft, (v) a rack coupled with the translating member, wherein the first eccentric cam is operable to drive the rack proximally in response to rotation of the first drive shaft, to thereby pivot the clamp arm toward the ultrasonic blade, and (vi) a pivoting arm (286, 288) coupled with the first articulation band (140, 142), wherein the second eccentric cam (246, 248) is operable to drive the pivoting arm proximally in response to rotation of the second drive shaft, to thereby deflect the end effector away from the longitudinal axis. (a) an end effector, wherein the end effector comprises an ultrasonic blade and a clamp arm, wherein the clamp arm is operable to pivot relative to the ultrasonic blade; (b) a shaft assembly, wherein the end effector is disposed at a distal end of the shaft assembly, wherein the shaft assembly defines a longitudinal axis, wherein the shaft assembly includes: (i) an articulation section operable to deflect the end effector away from the longitudinal axis, wherein the articulation section comprises a first articulation band (140, 142), wherein the first articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis; and (ii) a translating member, (i) an articulation section operable to deflect the end effector away from the longitudinal axis, wherein the articulation section comprises a first articulation band (140, 142), wherein the first articulation band is translatable relative to the shaft assembly to deflect the end effector away from the longitudinal axis; and (ii) a translating member, (c) an interface assembly, wherein the interface assembly is configured to drive the end effector, wherein the interface assembly comprises: (i) a base, wherein the base is configured to couple with a dock of a robotic control system, (ii) a plurality of drive shafts oriented perpendicular to the longitudinal axis, wherein a first drive shaft of the plurality of drive shafts is rotatable to pivot the clamp arm toward the ultrasonic blade, and a second drive shaft of the plurality of drive shafts is rotatable to translate the first articulation band, the translating member coupled between the first drive shaft and the clamp arm, (iii) a first eccentric cam secured to the first drive shaft, (iv) a second eccentric cam (246, 248) secured to the second drive shaft, (v) a rack coupled with the translating member, wherein the first eccentric cam is operable to drive the rack proximally in response to rotation of the first drive shaft, to thereby pivot the clamp arm toward the ultrasonic blade, and (vi) a pivoting arm (286, 288) coupled with the first articulation band (140, 142), wherein the second eccentric cam (246, 248) is operable to drive the pivoting arm proximally in response to rotation of the second drive shaft, to thereby deflect the end effector away from the longitudinal axis. (i) a base, wherein the base is configured to couple with a dock of a robotic control system, (ii) a plurality of drive shafts oriented perpendicular to the longitudinal axis, wherein a first drive shaft of the plurality of drive shafts is rotatable to pivot the clamp arm toward the ultrasonic blade, and a second drive shaft of the plurality of drive shafts is rotatable to translate the first articulation band, the translating member coupled between the first drive shaft and the clamp arm, (iii) a first eccentric cam secured to the first drive shaft, (iv) a second eccentric cam (246, 248) secured to the second drive shaft, (v) a rack coupled with the translating member, wherein the first eccentric cam is operable to drive the rack proximally in response to rotation of the first drive shaft, to thereby pivot the clamp arm toward the ultrasonic blade, and (vi) a pivoting arm (286, 288) coupled with the first articulation band (140, 142), wherein the second eccentric cam (246, 248) is operable to drive the pivoting arm proximally in response to rotation of the second drive shaft, to thereby deflect the end effector away from the longitudinal axis.