Apparatus for performing a minimally-invasive procedure, the apparatus comprising: a tool comprising: a shaft having a distal end and a proximal end; a handle attached to the proximal end of the shaft ; and an end effector attached to the distal end of the shaft; wherein the shaft comprises a flexible portion extending distally from the proximal end of the shaft , and an articulating portion extending proximally from the distal end of the shaft, and wherein the articulating portion comprises a distal end, a proximal end and a flexible spine disposed therebetween; wherein a plurality of articulation cables extend through the shaft from the handle to the flexible spine , each articulation cable of the plurality of articulation cables being disposed in a separate articulation cable housing , wherein each articulation cable housing comprises a distal and a proximal end and wherein each of the articulation cable housings is disposed about the articulation cable such that the proximal ends of the articulation cable housings bear against the handle and the distal ends of the articulation cable housings bear against the proximal end of the articulating portion and further wherein the articulation cables extend distally to the distal end of the articulating portion , such that when tension is applied to at least one of the plurality of articulation cables , the flexible spine bends, with the articulation cable housings providing a counterforce to the flexible spine ; wherein a rotatable element extends through the shaft from the handle to the end effector , such that when the rotatable element is rotated, the end effector rotates; and wherein an actuation element extends through the shaft from the handle to the end effector , such that when the actuation element is moved, the end effector is actuated. a shaft having a distal end and a proximal end; a handle attached to the proximal end of the shaft ; and an end effector attached to the distal end of the shaft; wherein the shaft comprises a flexible portion extending distally from the proximal end of the shaft , and an articulating portion extending proximally from the distal end of the shaft, and wherein the articulating portion comprises a distal end, a proximal end and a flexible spine disposed therebetween; wherein a plurality of articulation cables extend through the shaft from the handle to the flexible spine , each articulation cable of the plurality of articulation cables being disposed in a separate articulation cable housing , wherein each articulation cable housing comprises a distal and a proximal end and wherein each of the articulation cable housings is disposed about the articulation cable such that the proximal ends of the articulation cable housings bear against the handle and the distal ends of the articulation cable housings bear against the proximal end of the articulating portion and further wherein the articulation cables extend distally to the distal end of the articulating portion , such that when tension is applied to at least one of the plurality of articulation cables , the flexible spine bends, with the articulation cable housings providing a counterforce to the flexible spine ; wherein a rotatable element extends through the shaft from the handle to the end effector , such that when the rotatable element is rotated, the end effector rotates; and wherein an actuation element extends through the shaft from the handle to the end effector , such that when the actuation element is moved, the end effector is actuated. <EOS>