#$%^&*AU2005203212B220120308.pdf#####Abstract of the Invention A surgical instrument particularly suited to endoscopic use articulates an end effector by including an articulation mechanism in an elongate shaft that incorporates an electrically actuated polymer (EAP) actuator for remotely articulating the end effector.0-4 co 1/37 C14 000 0n . .. . . . . . . . . . . . .. .