An articulation tool includes proximal and distal links, an elongated shaft therebetween, and first and second locks. Movement of the proximal link about proximal first and second axes causes corresponding movement of the distal link about distal first and second axes. The first and second locks have unlocked configurations in which the proximal and distal links are movable with respect to the elongated shaft about the first axes, or the second axes, respectively, and locked configurations in which the proximal and distal links are held in a fixed orientation with respect to the elongated shaft about the first axes, or the second axes, respectively. Rotation of the elongated shaft while the first and second locks are in the locked configuration and the proximal and distal links are angled with respect to the elongated shaft causes the proximal and distal links to rotate about respective longitudinal axes.