Patent ID: 7111769

Claim:
A surgical instrument, comprising: a shaft comprising a frame, a firing member supported by the frame configured to transfer an actuating motion, and comprising an articulation drive tube encompassing the frame and firing member and configured to transfer a rotational motion about a longitudinal axis thereof; a handle portion proximally attached to the frame and coupled to the shaft operably configured to produce the actuating motion and the rotational motion; an end effector distally, pivotally attached to the frame for lateral articulation about a pivot axis perpendicular to the longitudinal axis of the frame; and a gear train articulation mechanism responsive to the rotational motion to articulate the end effector, comprising: a spur gear attached to the end effector and aligned in an arc proximal to and equidistant from the perpendicular pivot axis of the pivotal coupling of the end effector, and a gear section presented about at least a portion of a distal end of the articulation drive tube communicating the rotational motion to the spur gear of the pivotal coupling of the end effector.