Surgical instruments with articulating shafts

An articulatable surgical instrument for treating tissue, the instrument comprising:

• an end effector, the end effector comprising an energy device selected from the group consisting of at least one electrosurgical electrode and an ultrasonic blade;
• and
• a shaft extending proximally from the end effector along a longitudinal axis, wherein the shaft comprises:
• a proximal tube defining a proximal clevis at a distal end of the proximal hollow tube, the proximal clevis comprising first and second clevis members;
• a distal tube defining a distal clevis at a proximal end of the articulation tube, the distal clevis comprising first and second clevis members, wherein the distal clevis is coupled to the proximal clevis such that the distal tube is pivotable relative to the proximal tube about an interface between the distal tube and the proximal tube, and wherein the first clevis member of the distal clevis comprises a first plurality of teeth;
• a rotatable inner tube positioned within the proximal tube and rotatable about the longitudinal axis, wherein a distal end of the inner tube defines a second plurality of teeth positioned to interlock with the first plurality of teeth such that rotation of the inner tube about the longitudinal axis causes the distal tube to pivot about the interface between the distal tube and the proximal tube.

An articulatable surgical instrument for treating tissue, the instrument comprising:

• an end effector;
• and
• a shaft extending proximally from the end effector along a longitudinal axis, wherein the shaft comprises:
• a proximal tube;
• and
• a distal tube, wherein the distal tube and the proximal tube are pivotably coupled at a first hinge interface;
• a translating member extending through the proximal tube and coupled to the distal tube at a second hinge interface such that translation of the translating member along the longitudinal axis causes the proximal tube to pivot relative to the distal tube.

An articulatable surgical instrument for treating tissue, the instrument comprising:

• an end effector comprising an ultrasonic blade;
• and
• a shaft extending proximally from the end effector along a longitudinal axis, wherein the shaft comprises:
• a proximal tube;
• and
• a distal tube, wherein the distal tube and the proximal tube are pivotably coupled at a first hinge interface;
• a waveguide mechanically coupled to the ultrasonic blade and extending proximally through the shaft, wherein the waveguide defines a flexible portion positioned at about the first hinge interface;
• a rigid translating member extending through at least a portion of the proximal tube;
• a linkage member defining a proximal end pivotably coupled to the proximal tube and a distal end pivotably coupled to the distal tube such that distal translation of the translating member causes the distal tube to pivot about the first hinge interface away from the translating member.

An articulatable surgical instrument for treating tissue, the instrument comprising:

• an end effector comprising an ultrasonic blade;
• and
• a shaft extending proximally from the end effector along a longitudinal axis;
• an articulation neck defining a proximal end coupled to the shaft and a distal end coupled to the end effector, wherein the articulation neck comprises a plurality of hollow neck members, wherein a first hollow neck member selected from the plurality of hollow neck members defines a proximal end configured to receive a distal end of a second hollow neck member selected from the plurality of hollow neck members such that the first and second hollow neck members are pivotably coupled to each other;
• and
• a waveguide extending proximally from the ultrasonic blade through the articulation neck and the shaft, wherein the waveguide comprises a flexible portion positioned at about the articulation neck.