Surgical instrument, slave operation equipment and surgical robot

The present invention provides a surgical instrument, a slave operation device using the surgical instrument, and a surgical robot having the slave operation device, the surgical instrument comprisingan end effector and a drive device, the drive device comprising a first drive unit and a second drive unit, the driving device comprises a first driving unit, a second driving unit, a third driving unit and a pitching mechanism, wherein the first driving unit and the second driving unit respectively control a first pair of cables and a second pair of cables to control opening, closing and yawingmovement of an end effector; and the third driving unit drives the pitching mechanism to move along a straight line, so that the lengths of the first pair of cables and the second pair of cables in the driving device are changed simultaneously to control the pitching motion of the end effector. 本发明提供一种手术器械、应用该手术器械的从操作设备以及具有该从操作设备的手术机器人，其中手术器械，其包括末端执行器和驱动装置，驱动装置包括第一驱动单元和第二驱动单元，第一驱动单元和第二驱动单元分别操纵第一对缆绳和第二对缆绳以控制末端执行器的开合和偏航运动，驱动