An instrument comprising: a lumen having a proximal end and a distal end; a handpiece affixed to the proximal end of the lumen and including an actuator; a proximal articulable segment having a proximal end and a distal end, the proximal end of the proximal articulable segment pivotably attached to the distal end of the lumen via a proximal hinge pin extending in a direction generally perpendicular to a longitudinal axis of the lumen; an actuation cable extending from the actuator through the lumen and into the proximal articulable segment; and a cable router (46, 48, 52, 56; 47, 54) comprising a proximal pulley assembly (247A, 247B) rotatable about the proximal hinge pin, wherein the cable is wrapped about the proximal pulley assembly (247A, 247B), the instrument further having a distal articulable segment having a proximal end and a distal end, the proximal end of the distal articulable segment pivotably attached to the distal end of the proximal articulable segment via a distal hinge pin extending in a direction generally perpendicular to a longitudinal axis of the lumen and characterized in that said distal hinge pin is parallel to the direction in which the proximal hinge pin extends, wherein the cable router (46, 48, 52, 56; 47, 54) further comprises a distal knuckle assembly comprising a distal pulley assembly (254A, 254B) rotatable about the distal hinge pin, wherein the cable is wrapped about the distal pulley assembly (254A, 254B), wherein the proximal articulable segment is limited in travel about the proximal hinge pin to a range of approximately 0 and approximately 90 degrees of the longitudinal axis of the lumen; the distal articulable segment is limited in travel about the distal hinge pin to a range of approximately 0 and approximately 90 degrees of a longitudinal axis of the proximal articulable segment such that the distal articulable segment is limited in travel to a range of approximately 0 and approximately 180 degrees of the longitudinal axis of the lumen. a lumen having a proximal end and a distal end; a handpiece affixed to the proximal end of the lumen and including an actuator; a proximal articulable segment having a proximal end and a distal end, the proximal end of the proximal articulable segment pivotably attached to the distal end of the lumen via a proximal hinge pin extending in a direction generally perpendicular to a longitudinal axis of the lumen; an actuation cable extending from the actuator through the lumen and into the proximal articulable segment; and a cable router (46, 48, 52, 56; 47, 54) comprising a proximal pulley assembly (247A, 247B) rotatable about the proximal hinge pin, wherein the cable is wrapped about the proximal pulley assembly (247A, 247B), the instrument further having a distal articulable segment having a proximal end and a distal end, the proximal end of the distal articulable segment pivotably attached to the distal end of the proximal articulable segment via a distal hinge pin extending in a direction generally perpendicular to a longitudinal axis of the lumen and characterized in that said distal hinge pin is parallel to the direction in which the proximal hinge pin extends, wherein the cable router (46, 48, 52, 56; 47, 54) further comprises a distal knuckle assembly comprising a distal pulley assembly (254A, 254B) rotatable about the distal hinge pin, wherein the cable is wrapped about the distal pulley assembly (254A, 254B), wherein the proximal articulable segment is limited in travel about the proximal hinge pin to a range of approximately 0 and approximately 90 degrees of the longitudinal axis of the lumen; the distal articulable segment is limited in travel about the distal hinge pin to a range of approximately 0 and approximately 90 degrees of a longitudinal axis of the proximal articulable segment such that the distal articulable segment is limited in travel to a range of approximately 0 and approximately 180 degrees of the longitudinal axis of the lumen.