Embodiments include an instrument including an end effector located near a distal end of the instrument, an elongated member connected to the end effector, and a handle located near a proximal end of the instrument. The instrument also includes a ball and socket joint including a ball rotatable in a socket. The ball and socket joint connects the elongated member to the handle, and the handle is configured to move with respect to the elongated member via the ball and socket joint. The instrument further includes a control member connected to one of the ball or the socket, and the control member extends through the elongated member and connects the ball and socket joint to the end effector to control movement of the end effector.
