1. An articulating mechanism capable of transmitting torque for remote manipulation of a surgical or diagnostic tool comprising: an elongated shaft having a distal end and a proximal end located at opposite ends of the elongate shaft; a first link and a second link maintained in a spaced-apart relationship at the opposite ends of the elongated shaft; a third link adjacent to the first link, wherein a longitudinal axis extends through the first and third links and wherein the first and third links are both positioned at the proximal end or the distal end of the elongated shaft; a first set of tabs capable of movement relative to the first link and disposed on the first link between the first and third links, wherein the third link is operably connected to the first set of tabs to provide torque transmission between the adjacent first and third links while allowing for pivoting movement of the first link relative to the third link; first and second pivot joints positioned between the first and third links and aligned along the longitudinal axis; and a set of cables connecting the first and second-links such that the first and second links move together in corresponding relative movement.