Surgical end effectors are disclosed having an end effector and a shaft assembly coupled proximal to the end effector. The end effector has a first jaw member, a second jaw member, and a closure mechanism configured to move the first jaw member relative to the second jaw member. The shaft assembly has an articulation joint and/or a head rotation joint. The articulation joint is configured to independently articulate the end effector in a vertical direction and a horizontal direction. The head rotation joint is configured to independently rotate the end effector. The surgical instrument also has at least one active electrode disposed on at least one of the first jaw member and the second jaw member, and is configured to deliver RF energy to tissue located between the first jaw member and the second jaw member when in the closed position.