Degree-of-freedom regulating mechanism and surgical instrument

A degree-of-freedom regulating mechanism, comprising a handle, a drive unit group, and a differential mechanism;

• the drive unit group comprises N drive units, wherein N is 3 or 4, and each drive unit is rotatably or linearly movably provided on the handle;
• the differential mechanism is provided on the handle;
• the differential mechanism comprises a first planetary gear train and a corresponding rotating mechanism;
• any two gears of the first planetary gear train are configured to independently rotate and are respectively coupled to one of the drive units;
• the differential mechanism is switchable between a locked state and a released state;
• wherein when the differential mechanism is in the locked state, a driven wheel of the first planetary gear train and the corresponding rotating mechanism are fixed to each other in the rotation direction, such that the degree of freedom of the degree-of-freedom regulating mechanism is N−1;
• when the differential mechanism is in the released state, the driven wheel of the first planetary gear train and the corresponding rotating mechanism are able to rotate independently, such that the degree of freedom of the degree-of-freedom regulating mechanism is N.