Abstract: A surgical tool for compact articulating during surgical procedures includes a pitch cable, at least one yaw cable, a first link, a second link, at least one end-effector link, and at least one tensioning mechanism. The first link has a pitch joint end with a pitch joint pin and at least one yaw cable guide channel. The second link has a yaw joint end with a yaw joint pin. The second link is rotatably connected to the pitch joint pin. The at least one end-effector link is rotatably connected to said yaw joint pin. The yaw cables are coupled to the end-effector links such that the yaw cables can actuate the end-effector links about the yaw joint pin. The yaw cable guide channel is configured such that the yaw cables travel through a smooth trajectory to the end-effector links. The tensioning mechanism is configured to maintain a constant length.

Abstract: Simulators for practicing trans-oral surgery and methods of use thereof, are described. The simulator may include a simulated soft palate musculature adjacent to the simulated hard palate, and a simulated mucosal layer covering at least a portion of the simulated hard palate and at least a portion of the simulated soft palate musculature, wherein the simulated mucosal layer is configured to conform to and follow the contours of surface features of the covered portions of the simulated hard palate and simulated soft palate musculature.

Abstract: A surgical tool for compact articulating during surgical procedures includes a pitch cable, at least one yaw cable, a first link, a second link, at least one end-effector link, and at least one tensioning mechanism. The first link has a pitch joint end with a pitch joint pin and at least one yaw cable guide channel. The second link has a yaw joint end with a yaw joint pin. The second link is rotatably connected to the pitch joint pin. The at least one end-effector link is rotatably connected to said yaw joint pin. The yaw cables are coupled to the end-effector links such that the yaw cables can actuate the end-effector links about the yaw joint pin. The yaw cable guide channel is configured such that the yaw cables travel through a smooth trajectory to the end-effector links. The tensioning mechanism is configured to maintain a constant length.

Abstract: Simulators for practicing trans-oral surgery and methods of use thereof, are described. The simulator may include a simulated soft palate musculature adjacent to the simulated hard palate, and a simulated mucosal layer covering at least a portion of the simulated hard palate and at least a portion of the simulated soft palate musculature, wherein the simulated mucosal layer is configured to conform to and follow the contours of surface features of the covered portions of the simulated hard palate and simulated soft palate musculature.