A medical device comprises a control handle and a surgical end effector connected to the control handle through a passive articulating connection. A medical device end effector connection assembly comprises a passive articulation joint for connecting an end effector to a control handle. In a medical device having an end effector connected to a control handle, an end effector connection assembly comprises a passive articulation joint connecting the end effector to the control handle. A medical device comprises a control handle and a surgical end effector passively articulated with respect to the control handle. A medical device comprises a control handle having a first portion of a passive articulation joint and a surgical end effector having a second portion of the passive articulation joint, the first and second portions of the passive articulation joint connecting the end effector to the control handle.