ln accordance with the requirements for size and flexibility of the single-arch laparoscopic surgery equipments, a new type of mini-invasive surgery separating pliers with four-degree of freedom driven by the combination of a flexible rod and wire is de-signed. With the paralel mechanism structure based on the position and orientation characteristic set (POC set), a new type of 4SPS-lU unit of wrist joints with twice rotational paral el mechanism is put forward. By a series of such paral el mechanism, the wrist ±90o pitch and ±90o deflection rotation of the mini-invasive surgical instruments can be realized. According to the analysis of the di-rect and inverse kinematic equation of the paral el mechanism of the wrist 4SPS-lU and the expectation of the workspace, the num-ber of the paral el structures of the wrist joints can be determined, which provides the theoretical and applicable foundation for further research and design of the new type of mini-invasive surgical instruments.%针对单孔腹腔镜外科手术对器械尺寸及灵活性要求，设计了一种由柔性杆和钢丝绳组合驱动的四自由度微创手术分离钳。基于方位特征集( POC集)方法进行并联机构结构综合，提出实现腕部关节两转动的4SPS-1U的新型并联机构单元，并通过串联该并联机构单元，实现微创手术器械腕部±90°俯仰和±90°偏转大角度转动。对腕部4SPS-1U并联机构单元正、逆运动学进行分析；根据期望工作空间，确定构造腕关节的并联单元个数，可为进一步新型微创手术器械设计及研究提供理论和应用基础。
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