Described embodiments include a handheld or hand operated Surgical instrument. The instrument includes an elongated member having a longitudinal axis and a handle portion. The instrument includes a working tip coupled to the elongated member. The instrument includes a sensor configured to detect a user-imparted hand tremble motion. The instrument includes a flexible beam element of the elongated member located in-between the handle portion and the working tip, and configured to reversibly bend, extend, or rotate with respect to the longitudinal axis. The instrument includes an actuator physically coupled to the flexible beam element and configured to reversibly bend, extend, or rotate the flexible beam element with respect to the longitudinal axis. The instrument includes a controller configured to stabilize the working tip by activating the actuator in a manner responsive to the detected user-imparted …