The invention is a medical device comprising an insertion shaft having an articulation section located near its distal end. The medical device comprises one or more alignment systems to assist in bringing two portions of the insertion shaft that are located on opposite sides of the articulation section into alignment. The alignment systems are selected from the following: a) a mechanical system comprising one or more alignment pins or screws and two or more locking screws located in one of the portions and a corresponding number of funnels and receptacles into which the alignment pins and the locking screws can be inserted or advanced respectively located in the other of the portions; b) an ultrasound system comprising an ultrasound reflecting mirror having one or more steps located on one of the portions and a ultrasound transmitter/receiver located on the other of the portions; and c) an optical system comprising one or more light sources that emit light from one of the portions and an image sensor located on the other of the portions.