an elongated shaft,

a handle disposed at a proximal end of the shaft, and

an end effector disposed at a distal end of the shaft;

wherein the end effector is articulable with respect to a shaft longitudinal axis using a plurality of tiltable segments, where each segment includes a planar proximal-most stationary surface and a distal diametric and linearly extending peak, where the planar proximal-most stationary surface of a first segment is configured to teeter on the distal diametric peak of a second adjacent segment;

wherein consecutive distal diametric and linearly extending peaks are rotationally offset by ninety degrees;

wherein the end effector is rotatable about an end effector longitudinal axis; and

wherein the end effector is rotatable about the shaft longitudinal axis.