Surgical instrument assembly comprising a flexible articulation system

A surgical instrument, comprising:

• (a) a shaft comprising a shaft frame;
• (b) an end effector, comprising:
• (1) an end effector frame;
• and
• (2) a jaw movable relative to said end effector frame;
• (c) an articulation joint, comprising:
• (1) an articulation frame, comprising:
• (A) a proximal articulation end;
• and
• (B) a distal articulation end;
• (2) a first articulation ball-and-socket joint connecting said proximal articulation end to said shaft frame;
• and
• (3) a second articulation ball-and-socket joint connecting said distal articulation end to said end effector frame;
• (d) a first articulation actuator fixedly attached to said end effector frame, wherein said first articulation actuator is configured to push said end effector in a first direction about said articulation joint and to pull said end effector in a direction opposite the first direction and about said articulation joint, wherein said first articulation actuator is configured to transition between a compressed configuration when pushing said end effector and an expanded configuration when pulling said end effector;
• and
• (e) a second articulation actuator fixedly attached to said end effector frame, wherein said second articulation actuator is configured to push said end effector in a second direction about said articulation joint.

An assembly for use with a surgical instrument, comprising:

• (a) a shaft portion;
• (b) an end effector;
• (c) an articulation joint comprising a plurality of links including:
• (1) a plurality of first links, wherein each said first link comprises a first actuator aperture and a second actuator aperture, and wherein each said first link is defined by a first diameter;
• (2) a plurality of second links, wherein each said second link is defined by a second diameter, wherein said second diameter is smaller than said first diameter, wherein each said first link includes a protrusion configured to pivot into a lateral space of a respective said second link about a pivot point defined by a surface of said protrusion;
• (d) a first articulation actuator attached to said end effector, wherein said first articulation actuator extends through said first actuator apertures of said first links, and wherein said first articulation actuator does not extend through said second links;
• and
• (e) a second articulation actuator attached to said end effector, wherein said second articulation actuator extends through said second actuator apertures of said first links, and wherein said second articulation actuator does not extend through said second links.