An apparatus comprising: a first actuator link; a first gear quadrant rotatably coupled to the first actuator link to longitudinally move the first actuator link; a second actuator link; a second gear quadrant rotatably coupled to the second actuator link to longitudinally move the second actuator link, the first and second gear quadrants (314, 316) driven by respective drive gears actuated by respective drive spools; an actuator plate comprising a mounting member, a first plurality of apertures having a first radius, and a second plurality of apertures having a second radius larger than the first radius, wherein the first and second actuator links (304, 306) are rotatably coupled to the mounting member to move the actuator plate in pitch and yaw rotations when the first and second actuator links (304, 306) are longitudinally moved; a parallel linkage comprising a pair of parallel links coupled to the actuator plate, a pair of parallel rings rotatably coupled to the pair of parallel links, and a parallel linkage housing rotatably coupled to the pair of parallel links via pivots to rotate the actuator plate; a shaft having a distal end coupled to a flexible wrist and a proximal end coupled to the actuator plate, the flexible wrist comprising at least one medial disk and at least one distal disk; and a first plurality of cables extending from the actuator plate through the first plurality of apertures to the at least one medial disk of the flexible wrist, and a second plurality of cables extending from the actuator plate through the second plurality of apertures to the at least one distal disk of the flexible wrist. a first actuator link; a first gear quadrant rotatably coupled to the first actuator link to longitudinally move the first actuator link; a second actuator link; a second gear quadrant rotatably coupled to the second actuator link to longitudinally move the second actuator link, the first and second gear quadrants (314, 316) driven by respective drive gears actuated by respective drive spools; an actuator plate comprising a mounting member, a first plurality of apertures having a first radius, and a second plurality of apertures having a second radius larger than the first radius, wherein the first and second actuator links (304, 306) are rotatably coupled to the mounting member to move the actuator plate in pitch and yaw rotations when the first and second actuator links (304, 306) are longitudinally moved; a parallel linkage comprising a pair of parallel links coupled to the actuator plate, a pair of parallel rings rotatably coupled to the pair of parallel links, and a parallel linkage housing rotatably coupled to the pair of parallel links via pivots to rotate the actuator plate; a shaft having a distal end coupled to a flexible wrist and a proximal end coupled to the actuator plate, the flexible wrist comprising at least one medial disk and at least one distal disk; and a first plurality of cables extending from the actuator plate through the first plurality of apertures to the at least one medial disk of the flexible wrist, and a second plurality of cables extending from the actuator plate through the second plurality of apertures to the at least one distal disk of the flexible wrist.