Dexterous 4-dof surgical tool for compact articulation

A surgical tool for compact articulating during surgical procedures comprising:

• a pitch cable;
• at least one yaw cable;
• a first link having a pitch joint end with a pitch joint pin and at least one yaw cable guide channel;
• a second link having a yaw joint end with a yaw joint pin, said second link being rotatably connected to the pitch joint pin of the first link, said pitch cable being coupled to said second link such that said pitch cable can actuate said second link about said pitch joint pin;
• at least one end-effector link being rotatably connected to said yaw joint pin wherein the at least one yaw cables are coupled to said at least one end-effector links such that said at least one yaw cables can actuate said at least one end-effector links about said yaw joint pin;
• said at least one yaw cable guide channel being configured such that said at least one yaw cables travel through a smooth trajectory to said at least one end-effector links for any angle between said first link and said second link;
• and
• at least one tensioning mechanisms configured to maintain a constant length of said at least one yaw cable and to maintain a constant cable tension in said at least one yaw cable for any angle of actuation between said first link and said second link.