INSTRUMENT FOR MINIMALLY INVASIVE SURGERY HAVING ARTICULATION UNIT INCLUDING SPHERICAL PARTS

摘要

PURPOSE: A minimum invasive surgery tool is provided to have a short joint unit, to make a joint exercise in the joint unit smoothly be performed, to have a joint exercise of an end effecter firmly fixed, to offer the end effecter capable of smoothly taking a rolling motion. CONSTITUTION: A minimum invasive surgery tool capable of making an end effecter operates in a pitch direction or a yaw direction by operating in a pitch direction or in a yaw direction according to a shape of a slot formed in a spherical part includes a shaft(400), a joint unit(300) including a plurality of spherical parts and a plurality of join units while being connected with one end of the shaft, an end effecter(200) capable of exercising while being connected with the joint unit.