Surgical instrument, slave operation equipment and surgical robot

The invention provides a surgical instrument, slave operation equipment which uses the surgical instrument, and a surgical robot with the slave operation equipment. The surgical instrument comprises afirst driving unit and a first pair of cables, wherein the first pair of cables is used for manipulating the yawing movement of an end effector; a second pair of cables is used for manipulating the pitching movement of the end effector; and since the yawing movement and the pitching movement are orthogonal, the first pair of cables and the second pair of cables have a coupling relationship on theend effector. The driving device of the surgical instrument also comprises a decoupling mechanism, wherein the decoupling mechanism is used for canceling the coupling relationship. In the invention,a mechanical structure is used for canceling the coupling relationship between a driving cable used for manipulating the pitching movement of the end effector and a driving cable used for manipulatingthe yawing movement of the