The invention provides an articulating mechanism useful, for example, forremote manipulation of various surgical instruments and diagnostic toolswithin, or to, regions of the body. Movement of segments (A1, B1, D1) at theproximal end (106, 107, 121, 606, 806, 1711, 1801) of the mechanism results ina corresponding, relative movement of segments (A2, B2, D2) at the distal end(108, 109, 123, 604, 808, 1721, 1822) of the mechanism. The proximal anddistal segments are connected by a set of cables (104) in such a fashion thateach proximal segment forms a discrete pair with a distal segment. Thisconfiguration allows each segment pair to move independently of one anotherand also permits the articulating mechanism to undergo complex movements andadopt complex configurations. The articulating mechanisms may also be combinedin such a way to remotely mimic finger movements for manipulation of an objector body tissue.
