A surgical instrument particularly suited to endoscopic use articulates an end effector by including a laterally sliding member in a proximal portion of a shaft that pivots the end effector to a selected side. Differentially opposing actuating forces (e.g., hydraulic, fluidic, mechanical) act against...http://www.google.com/patents/US20070027468?utm_source=gb-gplus-sharePatent US20070027468 - Surgical instrument with an articulating shaft locking mechanism
