A multi-axis tool comprising: - an extended-reach device having first and second ends and an end effector adjacent the first end, wherein the end effector includes a camera; and a sensor system configured to measure a position of the extended-reach device; characterized in that the multi-axis tool comprises: a slide adapted to be positioned adjacent an opening in a wall; a gimbal adapted to be positioned adjacent the opening in the wall, wherein the extended-reach device is arranged to engage the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector is positioned on a side of the wall opposite the second end and wherein the gimbal includes: - a rail attached to the slide and capable of a sliding and rotational movement relative to the slide, and - a sliding attachment ring being attached to the rail for pivotal and translational movement relative thereto; and that the sensor system is configured to measure a linear position of the extended-reach device relative to the gimbal, and a position and spatial orientation of the end effector relative to the opening, the sensor system being configured to detect a longitudinal position of the rail along the slide, a rotational position of the rail relative to the slide, a position of the sliding attachment ring along the rail, a pivot position of the sliding attachment ring relative to the rail, and a rotational position of the extended-reach device relative to the gimbal; a computer control connected to receive signals from the sensor system to determine at least one of a position and an orientation of the end effector relative to the opening. - an extended-reach device having first and second ends and an end effector adjacent the first end, wherein the end effector includes a camera; and a sensor system configured to measure a position of the extended-reach device; a slide adapted to be positioned adjacent an opening in a wall; a gimbal adapted to be positioned adjacent the opening in the wall, wherein the extended-reach device is arranged to engage the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector is positioned on a side of the wall opposite the second end and wherein the gimbal includes: - a rail attached to the slide and capable of a sliding and rotational movement relative to the slide, and - a sliding attachment ring being attached to the rail for pivotal and translational movement relative thereto; - a rail attached to the slide and capable of a sliding and rotational movement relative to the slide, and - a sliding attachment ring being attached to the rail for pivotal and translational movement relative thereto; and that the sensor system is configured to measure a linear position of the extended-reach device relative to the gimbal, and a position and spatial orientation of the end effector relative to the opening, the sensor system being configured to detect a longitudinal position of the rail along the slide, a rotational position of the rail relative to the slide, a position of the sliding attachment ring along the rail, a pivot position of the sliding attachment ring relative to the rail, and a rotational position of the extended-reach device relative to the gimbal; a computer control connected to receive signals from the sensor system to determine at least one of a position and an orientation of the end effector relative to the opening.