Some embodiments of the invention relate to a mechanism for actuating a shafthaving two degrees of freedom, comprising: a first actuator configured torotate the shaftaround the shaft axis, and a second actuator configured to bend the shaftusing one ormore elongated elements attached to the shaft, wherein actuation of the firstactuatorindirectly manipulates the elongated elements controlled by the secondactuator, therebyaffecting operation of the second actuator. Some embodiments relate tomotorizedactuation of a system comprising at least one surgical arm.
