A surgical tool comprises a manipulator adapted to receive at least a portion of a hand of an operator. A proximal universal joint has a first end mounted to the manipulator. A hollow elongated member has a first end mounted to a second end of the proximal universal joint. A distal universal joint has a first end mounted to a second end of the elongated member. An end effector comprises a universal joint element pivotally mounted to a second end of the distal universal joint for rotation about a first axis, and a base member pivotally connected to the joint element for rotation about a second axis perpendicular to the first axis. Pivoting of the first end of the proximal universal joint causes the end effector to move in a corresponding motion.
