Medical instruments for performing minimally-invasive procedures

A method for performing a minimally-invasive procedure, the method comprising:

• providing apparatus for performing the minimally-invasive procedure, the apparatus comprising:
• a shaft having a distal end, a proximal end and a longitudinal axis extending between the distal end and the proximal end, wherein the shaft comprises a flexible portion and an articulating portion, wherein the flexible portion extends distally from the handle assembly and the articulating portion extends distally from the flexible portion, and further wherein the articulating portion is configured to articulate relative to the flexible portion;
• a handle assembly attached to the proximal end of the shaft;
• and
• an end effector attached to the distal end of the shaft;
• wherein a plurality of articulation cables extends from the handle assembly to the articulating portion, such that when tension is applied to at least one of the plurality of articulation cables, the articulating portion bends relative to the flexible portion of the shaft;
• wherein the plurality of articulation cables are mounted to the handle assembly such that moving the handle assembly to angle the handle assembly relative to the longitudinal axis of the shaft applies tension to at least one of the plurality of articulation cables, whereby to articulate the articulating portion of the shaft relative to the flexible portion of the shaft;
• and
• using the apparatus to perform the minimally-invasive procedure.