US Patent 10335182 Surgical instruments with articulating shafts

Various embodiments are directed to articulatable surgical instruments and surgical systems comprising articulatable surgical instruments. Some embodiments comprise an end effector to treat tissue, where the end effector comprises an ultrasonic blade. A hollow shaft may extend proximally from the end effector along a longitudinal axis. A waveguide may extend through the hollow shaft and may be acoustically coupled to the ultrasonic blade. The waveguide may comprise a distally positioned flange positioned within the hollow shaft proximally from the ultrasonic blade and may be held stationary at a first pivot point positioned within the hollow shaft proximally from the flange. A reciprocatable wedge may be configured to interact with the flange to cause the ultrasonic blade to pivot about the first pivot point in a first direction.