A surgical device is disclosed. The device includes an elongate shaft having a distal end coupled to a proximal end of an articulation joint, and an actuation wire extending through the elongate shaft and the articulation joint. The device further includes an end effector having a distal tip coupled...http://www.google.ca/patents/US20090306658?utm_source=gb-gplus-sharePatent US20090306658 - MANUALLY ARTICULATING DEVICES
