The present invention relates to a minimally invasive surgical instrument having an improved joint. According to one aspect of the present invention, provided is a minimally invasive surgical instrument comprising a shaft, a joint part which is coupled to one end of the shaft, and an end effector which is coupled to the joint part and can effect joint movement thereby. The joint part comprises a plurality of joint links, and a joint for pitch-direction operation and a joint for yaw direction operation, the joints being formed by interposing at least one of the plurality of joint links.
