| 摘要 |
The present invention relates to an instrument for minimally invasive surgery having a curved shaft and, more specifically, to an instrument for minimally invasive surgery including a curved part at least in a part of a shaft. According to one embodiment of the present invention, the instrument for minimally invasive surgery includes: a shaft, an end effector connected to one end of the shaft; a joint part intervened between the shaft and the end effector; and a number of wires which are connected to the joint part, and makes joint movement of the end effector. The shaft includes at least one curved part, and the curved part can deliver power to operate the end effector along the roll direction from the inside thereof, independently of the shaft. |
