A surgical device,, comprising: an elongate shaft; an end effector configured to engage tissue, configured to apply energy to the tissue, and configured to selectively articulate at an angle relative to a longitudinal axis of the elongate shaft along a first plane and along a second plane that is transverse to the second plane, the end effector including a pair of jaws configured to move between open and closed positions; a linkage located between the proximal end of the end effector and a distal end of the end effector, the linkage being limited to pivoting relative to the elongate shaft only in yaw movement, and wherein the end effector is limited to pivoting relative to the linkage only in pitch movement; a first pair of articulation cables (226a,d) extending along the elongate shaft offset from and substantially parallel to a longitudinal axis of the elongate shaft, the first pair of articulation cables being configured to be selectively actuated to cause the linkage to pivot and thereby cause the end effector to be articulated in only yaw movement relative to the elongate shaft; a second pair of articulation cables (226b,c) extending along the elongate shaft offset from and substantially parallel to the longitudinal axis of the elongate shaft, the second pair of articulation cables being configured to be actuated to articulate the end effector in only pitch movement relative to the elongate shaft; a pair of closure cables (230a,b) extending along the elongate shaft and substantially parallel to the longitudinal axis of the elongate shaft, the pair of closure cables being configured to be actuated to move the pair of jaws between the open and closed positions; a cable management guide positioned at a proximal joint between the elongate shaft and the linkage, the cable management guide comprising a pair of opposed plates, wherein the plates are configured to accommodate any slack of the first and second pair of articulation cables during articulation of the end effector; the surgical device characterised by a pair of links (236a, 236b) on opposed sides of the end effector; a jaw support rod pivotally attached to a first jaw of the pair of jaws with a pivot pin; and a hub that is slidably attached to the jaw support rod; wherein the links each have proximal ends pivotally attached to the hub, and each have distal ends pivotally attached to the first jaw of the pair of jaws, wherein proximal longitudinal translation of the closures cables causes the hub to slide proximally, wherein proximal movement of the hub pivots the links to cause the end effector to close, wherein distal longitudinal translation of the closure cables causes the hub to slide distally, wherein distal movement of the hub pivots the links to cause the end effector to open. an elongate shaft; an end effector configured to engage tissue, configured to apply energy to the tissue, and configured to selectively articulate at an angle relative to a longitudinal axis of the elongate shaft along a first plane and along a second plane that is transverse to the second plane, the end effector including a pair of jaws configured to move between open and closed positions; a linkage located between the proximal end of the end effector and a distal end of the end effector, the linkage being limited to pivoting relative to the elongate shaft only in yaw movement, and wherein the end effector is limited to pivoting relative to the linkage only in pitch movement; a first pair of articulation cables (226a,d) extending along the elongate shaft offset from and substantially parallel to a longitudinal axis of the elongate shaft, the first pair of articulation cables being configured to be selectively actuated to cause the linkage to pivot and thereby cause the end effector to be articulated in only yaw movement relative to the elongate shaft; a second pair of articulation cables (226b,c) extending along the elongate shaft offset from and substantially parallel to the longitudinal axis of the elongate shaft, the second pair of articulation cables being configured to be actuated to articulate the end effector in only pitch movement relative to the elongate shaft; a pair of closure cables (230a,b) extending along the elongate shaft and substantially parallel to the longitudinal axis of the elongate shaft, the pair of closure cables being configured to be actuated to move the pair of jaws between the open and closed positions; a cable management guide positioned at a proximal joint between the elongate shaft and the linkage, the cable management guide comprising a pair of opposed plates, wherein the plates are configured to accommodate any slack of the first and second pair of articulation cables during articulation of the end effector; the surgical device characterised by a pair of links (236a, 236b) on opposed sides of the end effector; a jaw support rod pivotally attached to a first jaw of the pair of jaws with a pivot pin; and a hub that is slidably attached to the jaw support rod; wherein the links each have proximal ends pivotally attached to the hub, and each have distal ends pivotally attached to the first jaw of the pair of jaws, wherein proximal longitudinal translation of the closures cables causes the hub to slide proximally, wherein proximal movement of the hub pivots the links to cause the end effector to close, wherein distal longitudinal translation of the closure cables causes the hub to slide distally, wherein distal movement of the hub pivots the links to cause the end effector to open.