Seals and sealing methods for a surgical instrument having an articulated end effector actuated by a drive shaft

A seal for a minimally-invasive surgical instrument having a shaft with an actuation component extending through the shaft, the seal comprising:

• a main body configured to interface with the instrument shaft of the instrument along a shaft axis of the shaft, wherein the main body comprises:
• a first aperture configured to receive the actuation component axially through the first aperture, the first aperture being larger than the actuation component when extending through the first aperture so as to accommodate lateral displacement of the actuation component relative to the shaft axis during actuation of the instrument with the actuation component, and
• a first slot in the main body oriented laterally relative to the shaft axis such that the first aperture extends through the slot, the first slot defining opposing axially facing internal surfaces;
• and
• a first sealing body configured to receive the actuation component so as to contact the actuation component about a laterally extending perimeter of the actuation component so as to provide a sealing interface between the first sealing body and the actuation component;
• wherein the first slot is configured to receive and allow lateral sliding of the first sealing body therein such that the first sealing body sealingly interfaces with the opposing axially internal surfaces of the slot during the lateral displacement of the actuation component, and wherein the first slot is aligned with the first aperture so as to sealingly receive the actuation component inserted through the first aperture such that the first sealing body inhibits axial transmission of at least one of an insufflate gas or a bodily fluid within the instrument shaft during a minimally invasive procedure.