A surgical device, comprising: an elongate substantially hollow shaft defining an elongate axis; an end effector operably coupled to a distal end of said elongate shaft for selective pivotal and rotational travel relative thereto, said end effector having at least one actuation feature thereon that is actuatable upon application of at least one axial actuation motion thereto; an articulation actuator operably interfacing with said end effector for applying axial articulation motions thereto to cause said end effector to pivot relative to said distal end of said elongate shaft and selectively apply at least one rotation motion thereto to cause said end effector to rotate relative to said distal end of said elongate shaft about said elongate axis; an input actuator for applying said at least one axial actuation motion; and characterized in that the surgical devie further comprises a rotational coupling, comprising: a driving coupler movably supported within a portion of said elongate substantially hollow shaft and coupled to a distal end of said input actuator for receiving said at least one axial actuation motion therefrom; an idler coupler movably supported within said portion of said substantially elongate hollow shaft and rotatably coupled to said driving coupler for rotation relative thereto about said elongate axis and axial travel with said driving coupler along said actuation axis; and at least one output actuator coupled to said idler coupler and said actuation features on said end effector such that said output actuator transfers said at least one axial actuation motion from said rotational coupling to said at least one actuation feature of said end effector, wherein said driving coupler and said idler coupler have axial holes (512, 522) extending therethrough through which the articulation actuator movably and rotationally extends. an elongate substantially hollow shaft defining an elongate axis; an end effector operably coupled to a distal end of said elongate shaft for selective pivotal and rotational travel relative thereto, said end effector having at least one actuation feature thereon that is actuatable upon application of at least one axial actuation motion thereto; an articulation actuator operably interfacing with said end effector for applying axial articulation motions thereto to cause said end effector to pivot relative to said distal end of said elongate shaft and selectively apply at least one rotation motion thereto to cause said end effector to rotate relative to said distal end of said elongate shaft about said elongate axis; an input actuator for applying said at least one axial actuation motion; and characterized in that the surgical devie further comprises a rotational coupling, comprising: a driving coupler movably supported within a portion of said elongate substantially hollow shaft and coupled to a distal end of said input actuator for receiving said at least one axial actuation motion therefrom; an idler coupler movably supported within said portion of said substantially elongate hollow shaft and rotatably coupled to said driving coupler for rotation relative thereto about said elongate axis and axial travel with said driving coupler along said actuation axis; and at least one output actuator coupled to said idler coupler and said actuation features on said end effector such that said output actuator transfers said at least one axial actuation motion from said rotational coupling to said at least one actuation feature of said end effector, wherein said driving coupler and said idler coupler have axial holes (512, 522) extending therethrough through which the articulation actuator movably and rotationally extends. a driving coupler movably supported within a portion of said elongate substantially hollow shaft and coupled to a distal end of said input actuator for receiving said at least one axial actuation motion therefrom; an idler coupler movably supported within said portion of said substantially elongate hollow shaft and rotatably coupled to said driving coupler for rotation relative thereto about said elongate axis and axial travel with said driving coupler along said actuation axis; and at least one output actuator coupled to said idler coupler and said actuation features on said end effector such that said output actuator transfers said at least one axial actuation motion from said rotational coupling to said at least one actuation feature of said end effector, wherein said driving coupler and said idler coupler have axial holes (512, 522) extending therethrough through which the articulation actuator movably and rotationally extends.