A system for navigating around healthy organs to reach a desired site of surgery is provided. The system includes an articulating shaft capable of navigating around healthy organs in a body. The articulating shaft includes a plurality of shaft sections and one or more movable joints. Further, the one or more movable joints have a two-degree of freedom motion. The two-degree of freedom joints operatively connect the plurality of shaft sections. Moreover, the system includes one or more cables which aid in controlling the movements of the movable joints. Additionally, the system can include a variety of medical tools located at the tip of a shaft section of the articulating shaft, wherein the medical tool aids in performing the medical activity.