Abstract: A surgical instrument, slave operating equipment applied in the surgical instrument, and a surgical robot having the slave operating equipment. The surgical instrument includes an end effector, a drive device, and a cable. The drive device is configured to drive the end effector to move by means of the cable. The cable includes a first pair of cables and a second pair of cables which are used for driving the end effector to execute yaw movement, and a third pair of cables used for driving the end effector to execute pitch movement. The third pair of cables have a coupling relation with the first pair of cables and the second pair of cables on the end effector due to orthogonality of the pitch movement and the yaw movement. The drive device has a mechanical decoupling mechanism used for releasing the coupling relation.

Abstract: A surgical instrument, a slave operation device using the surgical instrument, and a surgical robot which has the slave operation device. The surgical instrument includes an end effector, a first pair of cables, and a second pair of cables, a distal end of the first pair of cables is arranged at an executive component of the end effector, and said pair of cables is used for manipulating the yaw movement of the end effector, a distal end of the second pair of cables is arranged on a second frame, a proximal end of the second pair of cables is connected to a drive apparatus and same is used for manipulating the pitch of the end effector, and pulleys guiding the first pair of cables and the second pair of cables are arranged on a first frame.