Patent attributes
A surgical instrument comprising an end effector, a shaft, and an articulation joint is disclosed. The shaft comprises a frame defining a longitudinal shaft axis and, in addition, a closure actuator translatable relative to the frame. The closure actuator comprises a proximal portion, a distal portion, and a link rotatably connected to the proximal and distal portions about proximal and distal link axes, wherein the proximal and distal link axes define a longitudinal link axis therebetween. The end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint, wherein the end effector is articulable between an unarticulated position and an articulated position, wherein the articulation axis is offset from the longitudinal shaft axis, and wherein the longitudinal link axis is not collinear with the longitudinal shaft axis when the end effector is in either the unarticulated position or the articulated position.