Attachment assembly, control handle, series motion mechanism, and minimally invasive surgical instrument

A series motion mechanism, characterized by comprising:

• an attachment assembly;
• a control handle;
• and
• a series joint, comprising two joints, wherein rotation axes of the two joints are perpendicular to each other, the control handle and the attachment assembly are connected by the series joint to resolve a motion state of the control handle and convert the motion state into joint motions of the series joint;
• wherein the series joint comprises:
• a deflection assembly;
• and
• a pitching assembly;
• wherein the deflection assembly is rotatably connected to the control handle through the pitching assembly to form a pitching rotation joint;
• the deflection assembly is further rotatably connected to the attachment assembly to form a deflection rotation joint;
• a rotation axis of the pitching rotation joint is perpendicular to a rotation axis of the deflection rotation joint;
• wherein the deflection assembly comprises a traction frame;
• a rotation groove and a sliding slot are disposed on the traction frame;
• the attachment assembly is rotatably connected to the rotation groove;
• the pitching assembly is movably connected into the sliding slot, and is slidable in the sliding slot and rotatable relative to the traction frame;
• and
• wherein the number of the sliding slots is two, and the two sliding slots are arranged on two sides of the traction frame, respectively;
• the deflection assembly further comprises a deflection pulley, a tension pulley, and a connecting piece, which are sequentially connected and are all disposed inside the rotation groove;
• the deflection pulley is provided with a deflection wire slot, and the deflection wire slot is arranged to surround the deflection pulley;
• the tension pulley is provided with a first through hole;
• the connecting piece is provided with a second through hole;
• and the first through hole and the second through hole are concentric.