US Patent 10024407 Lower anterior resection 90 degree instrument

An articulating surgical instrument is disclosed, and includes an end effector and a drive assembly operably coupled with the end effector. The end effector includes a first drive shaft defining a first axis, and a second drive shaft operably engaged with and extending away from the first drive shaft. The second drive shaft is operably coupled with the end effector and defines a second axis, the second axis different from the first axis. The first drive shaft and the second drive shaft are pivotably arranged such that the first drive shaft and the second drive shaft are configured to transition between a first, substantially straight arrangement and a second, substantially perpendicular arrangement.