#$%^&*AU2014200546A120140220.pdf#####SURGICAL STAPLER HAVING AN ARTICULATION MECHANISM ABSTRACT There is provided a surgical instrument (100) comprising a flexible shaft (122) and a nutating gear drive (158) operatively connected to the flexible shaft (122). The nutating gear drive (158) is configured to reduce a speed and increase a torque of the flexible shaft (122). The surgical instrument (100) further comprises a drive shaft (154) configured to be selectively attached to the nutating gear drive (158).