Flexible wrist for surgical tool

A method comprising:

• actuating proximal portions of a plurality of actuation cables extending from a distal portion of a wrist member through the wrist member to an elongate shaft, distal portions of the plurality of actuation cables coupled to a distal portion of the wrist member;
• and
• actuating the wrist member in pitch rotation and yaw rotation in response to the actuating the proximal portions of the plurality of actuation cables, the wrist member having an inner spring which includes a proximal portion connected to a working end of the elongate shaft and a distal portion connected to an end effector, the wrist member having a plurality of annular disks distributed along an axis of the inner spring, the annular disks each having an inside edge connected with the inner spring;
• wherein the disks include a plurality of holes through which the actuation cables extend.