Line-driven motion module and minimally invasive surgical forceps

A line-driven motion module, comprising:

• a joint structure, wherein one end of the joint structure is configured to be connected with an external driving mechanism, the other end of the joint structure is configured to be connected with an external operating mechanism, and the joint structure comprises a plurality of interconnected joint units;
• a positioning structure, wherein the positioning structure is arranged between two adjacent joint units, the positioning structure comprises a first positioning member and a second positioning member, and the first positioning member and the second positioning member are movably connected to each other and can move towards or away from each other in a first direction;
• and
• at least two connecting lines, wherein the connecting lines are arranged in all the joint units and the positioning structure in a penetrating manner, each of the connecting lines is arranged to pass through two ends of the positioning structure, and the first positioning member and the second positioning member are configured to limit and restrain a length of each of the connecting lines inside the positioning structure;
• wherein, when the first positioning member and the second positioning member move towards each other in the first direction, a length of each of the connecting lines is limited and received in a line receiving cavity co-enclosed by the first positioning member and the second positioning member;
• and when the first positioning member and the second positioning member move away from each other in the first direction, the length of each of the connecting lines is straightened in the line receiving cavity.