US Patent 10004498 Surgical instrument comprising a plurality of articulation joints

A surgical instrument can include a handle, a shaft extending from the handle, and an end effector. The surgical instrument can further include a first articulation joint and a second articulation joint about which the end effector can be articulated. The surgical instrument can include a firing system which traverses the first articulation joint and the second articulation joint. The firing system can be operated by an electric motor.