Surgical instrument, slave operation equipment and surgical robot

The invention provides a surgical instrument, slave operation equipment using the surgical instrument and a surgical robot with the slave operation equipment. The surgical instrument comprises an endeffector, a driving device and cables, wherein the driving device is configured to drive the end effector to move through the cables; the cables include a first pair of cables and a second pair of cables which are used for driving the end effector to execute yawing motion, and a third pair of cables used for driving the end effector to do pitching motion; as the pitching motion and the yawing motion of the end effector are orthogonal, the third pair of cables on the end effector has a coupling relation with the first pair of cables and the second pair of cables on on side of the end effector;the driving device further comprises a decoupling device used for releasing the coupling relation; and a main decoupling piece of the decoupling device is not directly connected with a driving unit which is arranged in the dri