SURGICAL INSTRUMENT INCLUDING HOUSING, A CUTTING ACCESSORY THAT EXTENDS FROM THE HOUSING AND ACTUATORS THAT ESTABLISH THE POSITION OF THE CUTTING ACCESSORY RELATIVE TO THE HOUSING

There is disclosed an instrument for treating tissue during a medical procedure, the instrument comprising: a hand-held portion adapted to be manually supported and moved by a user; a working portion movably coupled to the hand-held portion; a plurality of actuators operatively coupled to the working portion for moving the working portion in a plurality of degrees of freedom relative to the hand-held portion; and a drive motor supported by the hand-held portion and including a drive shaft coupled to the working portion to move the working portion; wherein one of the actuators includes a motor having a hollow rotor that rotatably receives the drive shaft therein such that the drive shaft of the drive motor moves within the hollow rotor to drive the working portion.