Surgical instrument, slave operation equipment and surgical robot

The invention provides a surgical instrument, slave operation equipment applying the surgical instrument and a surgical robot with the slave operation device. The surgical instrument comprises an endeffector, a driving device and cables, and the driving device is configured to drive the end effector to move through the cables. The cables comprise a first pair of cables, a second pair of cables and a third pair of cables, the first pair of cables and the second pair of cables are used for driving the end effector to execute yawing motion, and the third pair of cables is used for driving the end effector to execute pitching motion. As the yawing motion and the pitching motion of the end effector are orthogonal to each other, a coupling relationship exists between the third pair of cables, and the first pair of cables and the second pair of cables on the end effector. The driving device is provided with a decoupling mechanism for decoupling the coupling relation, the decoupling mechanismcomprises a main decoupli