Abstract: A surgical tool having a compact design is disclosed. The tool has a first set of prongs disposed along a first axis, a second set of prongs disposed along a second axis different from the first, and an asymmetric gear set. The gear set includes a rotatable first drive gear disposed on one of the first set of prongs and a rotatable first actuator gear disposed on one of the second set of prongs. The first drive gear is configured to drive the first actuator gear, forming a first gear pair. The gear set also includes a rotatable second drive gear disposed on one of the first set of prongs and a rotatable second actuator gear disposed on one of the second set of prongs. The second drive gear is configured to drive the second actuator gear, forming a second gear pair. The first gear pair and the second gear pair have different diameters.