Three-degree-of-freedom surgical robot slave operation arm

The invention belongs to the field of medical instruments. The utility model aims to provide a three-degree-of-freedom surgical robot slave operation arm which can realize stable movement of a surgical instrument around a telecentric point in a minimally invasive surgery process. According to the technical scheme, the three-degree-of-freedom surgical robot slave operation arm is characterized by comprising a surgical instrument, a yaw mechanism for driving the surgical instrument to swing left and right around a telecentric point, a pitching mechanism for driving the surgical instrument to swing front and back around the telecentric point, and a translation mechanism for driving the surgical instrument to move axially; the yaw mechanism comprises a supporting piece, a first support rotationally positioned on the supporting piece and a first motor installed on the supporting piece and used for driving the first support to rotate. The pitching mechanism comprises two parallelogram mechanisms and a second motor,