a method for operating a surgical end effector of a medical device includes the steps of operably associating a passive articulation joint with a surgical end effector to allow articulation of the end effector , retaining the passive articulation joint in a still position with an articulation lock , releasing the articulation lock to free the passive articulation joint from its still position thereby permitting the end effector to articulate through the passive articulation joint dependent upon forces that are external to the device and are applied to the end effector , and passively articulating the end effector into a desired articulated position by pressing a portion of the end effector against a feature of the environment .