Insertion instrument with articulating wrist

A method of operating a surgical instrument including an outer sleeve extending along a first axis, an inner shaft supported by the outer sleeve rotatable about the first axis, a drive member extending along a second axis, and a coupling member pivotably connected to the outer sleeve and a retainer containing the drive member, the method comprising:

• rotating the inner shaft about the first axis to rotate the drive member about the second axis;
• and
• translating the outer sleeve along the first axis causing the coupling member to pivot about first and second pivot points to angulate the second axis relative to the first axis, wherein the translating the outer sleeve causes the first pivot point to translate relative to the inner shaft and concurrently causes a retaining feature in the drive member to prevent linear translation of the second pivot point relative to the drive member,
• wherein the translating the outer sleeve includes a pin forming the second pivot point interacting with the retaining feature in the form of an annular groove to prevent linear translation of the second pivot point relative to the drive member.