Articulation mechanism for a surgical device

A surgical instrument comprising:

• an elongate body including proximal and distal portions;
• an articulation assembly including:
• a drive bar including a base and a stem extending from the base;
• a locking pin rotatably coupled to the base of the drive bar;
• a drive gear operatively coupled to the drive bar, the drive gear including teeth defining a gap between adjacent teeth, the gap configured to receive a portion of the locking pin;
• and
• a yoke operatively coupled to the drive gear such that rotation of the drive gear causes axial displacement of the yoke;
• a tool assembly supported on the distal portion of the elongate body;
• and
• an articulation rod interconnecting the yoke and the tool assembly such that axial displacement of the yoke causes articulation of the tool assembly, wherein rotation of the drive bar transitions the locking pin from a locked state to an unlocked state and rotates the drive gear when the locking pin is in the unlocked state such that the yoke is axially displaced to articulate the tool assembly.