An articulating mechanism comprises a first link, a second link, an intermediate portion, a first hinge between the first link and the intermediate portion, and a second hinge between the second link and the intermediate portion. The first link, the second link, the intermediate portion, the first hinge, and the second hinge are integrally formed. The articulating mechanism also comprises a plurality of cables for rotating the first and second links about the first and second hinges. The cables extend through channels in the first link and the second link without extending through the intermediate portion. The first and second hinges are oriented parallel to each other to permit the first and second links to rotate in the same plane about the first and second hinges, respectively. The first and second links are rotatable about the first and second hinges in two directions under control of the cables.
