Self-articulating joint (36; 88; 112; 126; 128; 150, 152; 154, 156, 158) for a minimally invasive surgical apparatus (20; 86; 134; 138; 142; 146; 148), the self-articulating joint (36; 88; 112; 126; 128; 150, 152; 154, 156, 158) comprising: a first elbow component (42; 90; 118) pivotably coupled to a second elbow component (44; 92; 120), wherein the first and second elbow components (42, 44; 90, 92; 118, 120) are biased to form a non-linear angle (θ) relative to each other; and an elbow latch (52; 84; 122) configured to releasably hold the first and second elbow components (42, 44; 90, 92; 118, 120) at a substantially fixed non-linear operating angle (θ); characterized by a latch spring (58; 102; 114); and a joint biasing element (50; 94; 116; 130; 132) configured to bias the first and second elbow components (42, 44; 90, 92; 118, 120) to form the non-linear angle (θ) relative to each other; wherein at least one of the first elbow component (42; 90; 118) and the second elbow component (44; 92; 120) comprises the joint biasing element (50; 94; 116; 130; 132); wherein the elbow latch (52; 84; 122) is moveable between: a latched position where the first and second elbow components (42, 44; 90, 92; 118, 120) can be releasably held in the substantially fixed non-linear operating angle (θ), and an unlatched position where the first and second elbow components (42, 44; 90, 92; 118, 120) are released from being held in the substantially fixed non-linear operating angle (θ); and wherein the latch spring (58; 102; 114) is configured to bias the elbow latch (52; 84; 122) towards the latched position. a first elbow component (42; 90; 118) pivotably coupled to a second elbow component (44; 92; 120), wherein the first and second elbow components (42, 44; 90, 92; 118, 120) are biased to form a non-linear angle (θ) relative to each other; and an elbow latch (52; 84; 122) configured to releasably hold the first and second elbow components (42, 44; 90, 92; 118, 120) at a substantially fixed non-linear operating angle (θ); characterized by a latch spring (58; 102; 114); and a joint biasing element (50; 94; 116; 130; 132) configured to bias the first and second elbow components (42, 44; 90, 92; 118, 120) to form the non-linear angle (θ) relative to each other; wherein at least one of the first elbow component (42; 90; 118) and the second elbow component (44; 92; 120) comprises the joint biasing element (50; 94; 116; 130; 132); wherein the elbow latch (52; 84; 122) is moveable between: a latched position where the first and second elbow components (42, 44; 90, 92; 118, 120) can be releasably held in the substantially fixed non-linear operating angle (θ), and an unlatched position where the first and second elbow components (42, 44; 90, 92; 118, 120) are released from being held in the substantially fixed non-linear operating angle (θ); and wherein the latch spring (58; 102; 114) is configured to bias the elbow latch (52; 84; 122) towards the latched position. a latched position where the first and second elbow components (42, 44; 90, 92; 118, 120) can be releasably held in the substantially fixed non-linear operating angle (θ), and an unlatched position where the first and second elbow components (42, 44; 90, 92; 118, 120) are released from being held in the substantially fixed non-linear operating angle (θ); and wherein the latch spring (58; 102; 114) is configured to bias the elbow latch (52; 84; 122) towards the latched position. <EOS>