Surgical instrument, slave operation device and robot

The present specification provides a surgical instrument, a slave manipulation device, and a robot. The surgical instrument comprises a driving device, a long shaft assembly and a tail end instrument. The long shaft assembly comprises an autorotation pipe and a driving rod which is at least partially accommodated in the autorotation pipe; the driving rod can be driven by a driving device to move in the lengthwise direction. The tail end instrument extends in the lengthwise direction and is provided with an instrument first end and an instrument second end. The first end of the instrument is provided with an end effector, and the second end of the instrument is connected with the first end of the long shaft assembly in a matched mode. The tail end instrument comprises a knife rest and a swing pull rod assembly. The swing pull rod assembly comprises a first pull rod rotationally connected with the end effector; the second pull rod is rotationally connected with the first pull rod and the knife rest; the knife r