The present invention provides a minimally invasive surgical instrument with a terminal steerable mechanism, comprising an intervention device, a control device and one or more wires. The strip-shaped intervention device sequentially includes a main section, a flexible section and an operation section from the top to the end. The control device includes a sphere with a preset rotational degree of freedom, and an operating lever connected to the sphere. Said one or more wires are extended along the main section of the intervention device. Here, the second ends of said at least one or more wires are connected to the flexible section or the operation section of the intervention device, and the first ends thereof are connected to at least a part of the control device.

A joystick includes a casing, a stick body and an optical sensor. The casing has a hole. The stick body is movably disposed on the casing via the hole. The stick body includes a pressing portion, an indication portion and an identification pattern. The indication portion is connected to the pressing portion and inserts into the hole. A sunken structure is formed on a bottom of the indication portion. The identification pattern is disposed on an inner surface of the sunken structure. The optical sensor is disposed inside the casing and faces the sunken structure, and adapted to analyze a movement of the identification pattern to identify a control status of the stick body.

In a multi-directional input device, an upward convex spherical trapezoidal portion is provided at a lower end of an operation shaft projecting downward of a lower arm, a receiving portion for the upward convex spherical trapezoidal portion is provided in a case, the receiving portion has a receiving surface configured with a spherical surface having a radius of curvature identical to a radius of curvature of a spherical zone of the upward convex spherical trapezoidal portion, the receiving surface against which the spherical zone of the upward convex spherical trapezoidal portion is pressed downward by a compression coil spring, and the operation shaft is supported to be rotatable around the center of curvature of the receiving surface.

A pointing device includes: a substrate; an operation member that is provided tiltably with respect to the substrate, and includes a protrusion protruded from one of an inner wall and an outer wall; and a rotation member that is provided rotatably on the substrate, and includes a hole which the protrusion enters when the rotation member overlaps the operation member; wherein the rotation member rotates in conjunction with the operation member when the protrusion contacts an edge of the hole according to rotation of the operation member, wherein the hole is formed in a range in which the protrusion is movable by tilt of the operation member.

In a multi-directional input device, an upward convex spherical trapezoidal portion is provided at a lower end of an operation shaft projecting downward of a lower arm, a receiving portion for the upward convex spherical trapezoidal portion is provided in a case, the receiving portion has a receiving surface configured with a spherical surface having a radius of curvature identical to a radius of curvature of a spherical zone of the upward convex spherical trapezoidal portion, the receiving surface against which the spherical zone of the upward convex spherical trapezoidal portion is pressed downward by a compression coil spring, and the operation shaft is supported to be rotatable around the center of curvature of the receiving surface.

A multi-directional input device includes an operating member that protrudes from a case and can be tilted, a compression coil spring that returns the operating member to an initial state before a tilting operation, a magnet holding member that is relatively movable with respect to the operating member only in a direction along a protruding direction and is interlocked only in a tilting direction, a magnet arranged in the magnet holding portion, and magnetic sensors that are each disposed at a position facing the magnet and detect a movement of the magnet. The magnetic sensors are each disposed on a side of the magnet and can detect magnetic components in three axial directions orthogonal to one another.

A joystick can include a shaft having an axis, a manipulating portion, and a sensing end with a magnet mounted thereto. The joystick can further include a movement mechanism configured to allow the manipulating portion of the shaft to be moved in three dimensions with respect to the axis of the shaft. The movement of the manipulating portion results in corresponding movement of the magnet that can be sensed in a non-contacting manner by a magnetic sensor positioned relative to the magnet.

A human-machine interface comprising: a magnetic rocker rotatably movable between a rest position wherein an implement is maintained in a neutral position and a tilted position wherein the implement is in a reclined position, a magnetic assembly, attached to a frame, capable of cooperating with the magnetic rocker to generate a magnetic return force that constantly urges the magnetic rocker towards its rest position, a sliding connection comprising a flange and a slide, and the implement comprises one of the slides, and the flange and the magnetic rocker comprise the other of the slide and the flange such that the sliding connection transforms the movement of the implement towards the reclined position by moving the magnetic rocker towards its tilted position and vice versa.

A manual control device for a control and operating unit of a lifting work platform, work machine or construction machine has at least one actuating unit which has an actuation element having at least one magnetic position element, and an evaluating unit having at least one magnetic field sensor unit. The evaluating unit is configured to detect a position and/or movement of the actuation element in a plane of movement based on a sensor signal from the magnetic field sensor unit. The actuation element is movable relative to the sensor unit along a further direction of movement perpendicularly to the plane of movement, wherein the evaluating unit is configured to detect a movement of the actuation element along the further direction of movement based on a sensor signal from the magnetic field sensor unit.

The present invention provides a minimally invasive surgical instrument with a terminal steerable mechanism, comprising an intervention device, a control device and one or more wires. The strip-shaped intervention device sequentially includes a main section, a flexible section and an operation section from the top to the end. The control device includes a sphere with a preset rotational degree of freedom, and an operating lever connected to the sphere. Said one or more wires are extended along the main section of the intervention device. Here, the second ends of said at least one or more wires are connected to the flexible section or the operation section of the intervention device, and the first ends thereof are connected to at least a part of the control device.