An end-effector apparatus comprising:an end effector；a conduit having a distal end coupled to the end effector and a flexible portion at the distal end；a control link extending through the conduit and having a distal end coupled to the end effector, the control link having a flexible portion at the distal end,wherein the control link is operable to actuate a first movement of the end effector and the conduit is operable to actuate a second movement of the end effector.
