A tool for minimally invasive surgery includes a main shaft, a first control shaft and a second control shaft, a first actuating shaft and a second actuating shaft, an adjustment handle, an end effector, a pitch control part, a first yaw control part and a second yaw control part, a pitch actuating part, a first yaw actuating part and a second yaw actuating part, and a pitch cable, a first yaw cable and a second yaw cable.