A minimally invasive surgical instrument comprising: a shaft; an end effector being connected to one end of the shaft; and a handling unit being connected to the other end of the shaft, wherein the handling unit comprises: a pair of linear motion members; a pair of rotating members (432, 436) to allow the pair of linear motion members to move in the opposite directions; and a driving element to drive the pair of rotating members (432, 436), wherein the pair of linear motion members operate the end effector in a pitch or yaw direction, wherein each of the pair of rotating members (432, 436) is connected with a common outer circumference rotating member disposed along the outer circumference of the handling unit, and wherein one of the pair of rotating members and the corresponding one of the pair of linear motion members are connected to each other via a first spiral part (433, 483), and the other of the pair of rotating members and the other corresponding one of the pair of linear motion members are connected to each other via a second spiral part having a spiral orientation opposite to that of the first spiral part, and characterised in that the handling unit further comprises: another pair of linear motion members; another pair of rotating members to allow the another pair of linear motion members to move in the opposite directions; and another driving element to drive the another pair of rotating members, and wherein the another pair of linear motion members operate the end effector in the yaw or pitch direction, and wherein each of the another pair of rotating members is connected with another common outer circumference rotating member disposed along the outer circumference of the handling unit, and wherein the common outer circumference rotating member and the another common outer circumference rotating member are capable of rotating independently of each other. a shaft; an end effector being connected to one end of the shaft; and a handling unit being connected to the other end of the shaft, wherein the handling unit comprises: a pair of linear motion members; a pair of rotating members (432, 436) to allow the pair of linear motion members to move in the opposite directions; and a driving element to drive the pair of rotating members (432, 436), a pair of linear motion members; a pair of rotating members (432, 436) to allow the pair of linear motion members to move in the opposite directions; and a driving element to drive the pair of rotating members (432, 436), wherein the pair of linear motion members operate the end effector in a pitch or yaw direction, wherein each of the pair of rotating members (432, 436) is connected with a common outer circumference rotating member disposed along the outer circumference of the handling unit, and wherein one of the pair of rotating members and the corresponding one of the pair of linear motion members are connected to each other via a first spiral part (433, 483), and the other of the pair of rotating members and the other corresponding one of the pair of linear motion members are connected to each other via a second spiral part having a spiral orientation opposite to that of the first spiral part, and characterised in that the handling unit further comprises: another pair of linear motion members; another pair of rotating members to allow the another pair of linear motion members to move in the opposite directions; and another driving element to drive the another pair of rotating members, and another pair of linear motion members; another pair of rotating members to allow the another pair of linear motion members to move in the opposite directions; and another driving element to drive the another pair of rotating members, and wherein the another pair of linear motion members operate the end effector in the yaw or pitch direction, and wherein each of the another pair of rotating members is connected with another common outer circumference rotating member disposed along the outer circumference of the handling unit, and wherein the common outer circumference rotating member and the another common outer circumference rotating member are capable of rotating independently of each other.