The invention discloses a minimally invasive
surgical instrument, and belongs to the technical field of
medical instruments, the minimally invasive
surgical instrument comprises a
tail end tool, an operating part, a
power transmission part and a connecting part, the connecting part comprises a linear part connected with the
tail end tool, a bending part connected with the operating part and a spherical pair mechanism used for connecting the linear part and the bending part; the inner side of the spherical pair mechanism is provided with an inner path for smooth transition of a jaw wire, the spherical pair mechanism is provided with a rotary limiting shaft and a locking
assembly, the rotary limiting shaft is configured to enable the bent part to do pitching
rotation action relative to the linear part, the locking
assembly comprises a locking unit and a
control unit, and the locking unit is configured to provide locking force for the spherical pair mechanism. The
control unit is a locking wire for connecting the locking unit and the locking operation part, and the locking operation part is reversely interlocked with the spherical pair mechanism. By adjusting the angle between the linear part and the bent part, the
wrist of a doctor is located at a comfortable moving position, so that the flexibility of the
wrist in the operation process is improved, and the fatigue feeling of the doctor is reduced.