A multi-DOF surgical instrument for minimally invasive surgery which comprising a hand held portion 10, a power portion 20 which is fix connected with the hand held portion 10, a thin linking rod 30 which is fix connected with the power portion 20, an operative end portion 40 which is connected with the thin linking rod 30, and an operative system for controlling the operation of the power portion 20. Wherein, the hand held portion and the power portion are wire connected with the operative system, the operation of the hand held portion triggers operations of encoders on the two joints provided on the instrument. The encoder collects the operation information of the joints and feeds back to the operative system , and the power portion receives signal from the operative system and drive the operative end portion to perform pitch, yaw, clamping motion.
