A surgical tool comprising: an elongate shaft extending along a longitudinal axis and having a proximal end and a distal end, the longitudinal axis extending through the proximal and distal ends; an end effector movably coupled to the distal end of the elongate shaft to rotate about a first axis and a second axis, the first axis being orthogonal to the longitudinal axis, the second axis being orthogonal to the first axis and transverse to the longitudinal axis, the second axis being offset from the first axis along the longitudinal axis, the end effector including four attachment features (180, 182, 184, 186), each of the four attachment features including a curved portion, each of the four curved portions having a center-of-curvature and a curved ordinary centerline, each of the four center-of-curvatures being located in a plane containing the second axis, and each of the four curved ordinary centerlines being tangent to a plane containing the first axis; four tension members (188, 190, 192, 194) extending along the elongate shaft, so that opposed axial movement of the tension members angularly orients the end effector relative to the elongate shaft about the first and second axes each of the four tension members (188, 190, 192, 194) being interfaced with a respective one of the four curved portions, each of the four tension members (188, 190, 192, 194) comprising an attachment lug configured to slidingly receive one of the four curved portions so as to slide against and along the curved portion when the end effector rotates about one of the first axis and the second axis; control cables drivingly coupled with the end effector; an intermediate member pivotally coupled with the elongate shaft to rotate relative to the elongate shaft about the first axis, the intermediate member being pivotally coupled with the end effector so that the end effector rotates relative to the intermediate member about the second axis, the intermediate member having internal passages shaped to constrain cross-sectional positions of the control cables; and a support member to which the intermediate member is pivotally coupled to rotate about the first axis, the elongate shaft comprising the support member. an elongate shaft extending along a longitudinal axis and having a proximal end and a distal end, the longitudinal axis extending through the proximal and distal ends; an end effector movably coupled to the distal end of the elongate shaft to rotate about a first axis and a second axis, the first axis being orthogonal to the longitudinal axis, the second axis being orthogonal to the first axis and transverse to the longitudinal axis, the second axis being offset from the first axis along the longitudinal axis, the end effector including four attachment features (180, 182, 184, 186), each of the four attachment features including a curved portion, each of the four curved portions having a center-of-curvature and a curved ordinary centerline, each of the four center-of-curvatures being located in a plane containing the second axis, and each of the four curved ordinary centerlines being tangent to a plane containing the first axis; four tension members (188, 190, 192, 194) extending along the elongate shaft, so that opposed axial movement of the tension members angularly orients the end effector relative to the elongate shaft about the first and second axes each of the four tension members (188, 190, 192, 194) being interfaced with a respective one of the four curved portions, each of the four tension members (188, 190, 192, 194) comprising an attachment lug configured to slidingly receive one of the four curved portions so as to slide against and along the curved portion when the end effector rotates about one of the first axis and the second axis; control cables drivingly coupled with the end effector; an intermediate member pivotally coupled with the elongate shaft to rotate relative to the elongate shaft about the first axis, the intermediate member being pivotally coupled with the end effector so that the end effector rotates relative to the intermediate member about the second axis, the intermediate member having internal passages shaped to constrain cross-sectional positions of the control cables; and a support member to which the intermediate member is pivotally coupled to rotate about the first axis, the elongate shaft comprising the support member.