A robotic instrument manipulation device, characterised in comprising: (a) a first module, wherein a top portion of said first module comprises a first differential gear, wherein a bottom portion of said first module comprises a universal joint, wherein said first differential gear comprises a first driven gear and a first pair of driving gears disposed on opposite sides of said first driven gear, wherein said first pair of driving gears are disposed along a first common axis, wherein said first driven gear comprises a first drive shaft that is fixedly suspended, wherein said first module rotates about an axis of said first drive shaft when said first pair of driving gears counter rotate, wherein said first driven gear rotates said first module about said first common axis when said first pair of driving gears co- rotate; (b) a second module, wherein a top portion of said first module is pivotably connected to a top portion of said second module, wherein said pivotable connection comprises a first module pivotable connection and a second module pivotable connection, wherein a bottom portion of said second module comprises a second differential gear, wherein said second differential gear comprises a second driven gear and a second pair of driving gears disposed on opposite sides of said second driven gear, wherein said second pair of driving gears are disposed along a second common axis, wherein said second driven gear comprises a second drive shaft that rotates about an axis of said second drive shaft when said second pair of driving gears counter rotate, wherein said second drive shaft rotates about said second common axis when said second pair of driving gears co-rotate; and (c) a third module, wherein said third module comprises a third differential gear disposed at a distal end of said third module, wherein a distal end of said second drive shaft is fixedly connected to a proximal end of said third module, wherein a mid-portion of said second drive shaft is universally connected to said universal joint, wherein said third differential gear comprises a third driven gear and a third pair of driving gears disposed on opposite sides of said third driven gear, wherein said third pair of driving gears are disposed along a third common axis, wherein said third driven gear comprises an instrument, wherein said instrument rotates about an instrument longitudinal axis when said third pair of driving gears counter rotate, wherein said instrument rotates about said third common axis when said third pair of driving gears co-rotate, wherein said first module pivotable connection, said second module pivotable connection, said second common axis and said universal joint form a parallelogram. (a) a first module, wherein a top portion of said first module comprises a first differential gear, wherein a bottom portion of said first module comprises a universal joint, wherein said first differential gear comprises a first driven gear and a first pair of driving gears disposed on opposite sides of said first driven gear, wherein said first pair of driving gears are disposed along a first common axis, wherein said first driven gear comprises a first drive shaft that is fixedly suspended, wherein said first module rotates about an axis of said first drive shaft when said first pair of driving gears counter rotate, wherein said first driven gear rotates said first module about said first common axis when said first pair of driving gears co- rotate; (b) a second module, wherein a top portion of said first module is pivotably connected to a top portion of said second module, wherein said pivotable connection comprises a first module pivotable connection and a second module pivotable connection, wherein a bottom portion of said second module comprises a second differential gear, wherein said second differential gear comprises a second driven gear and a second pair of driving gears disposed on opposite sides of said second driven gear, wherein said second pair of driving gears are disposed along a second common axis, wherein said second driven gear comprises a second drive shaft that rotates about an axis of said second drive shaft when said second pair of driving gears counter rotate, wherein said second drive shaft rotates about said second common axis when said second pair of driving gears co-rotate; and (c) a third module, wherein said third module comprises a third differential gear disposed at a distal end of said third module, wherein a distal end of said second drive shaft is fixedly connected to a proximal end of said third module, wherein a mid-portion of said second drive shaft is universally connected to said universal joint, wherein said third differential gear comprises a third driven gear and a third pair of driving gears disposed on opposite sides of said third driven gear, wherein said third pair of driving gears are disposed along a third common axis, wherein said third driven gear comprises an instrument, wherein said instrument rotates about an instrument longitudinal axis when said third pair of driving gears counter rotate, wherein said instrument rotates about said third common axis when said third pair of driving gears co-rotate, wherein said first module pivotable connection, said second module pivotable connection, said second common axis and said universal joint form a parallelogram.