Single-hole minimally invasive surgery robot and tail end instrument and executing mechanism thereof

The invention discloses a single-hole minimally invasive surgery robot and a tail end instrument and an executing mechanism thereof, the tail end instrument comprises a shell assembly and the executing mechanism, the shell assembly comprises an operating handle and a base body which are connected with each other, and the executing mechanism comprises a tail end executor, a deflection assembly and an abduction assembly or comprises the tail end executor and the abduction assembly. The near end of the abduction assembly is connected with the far end of the base body, and the abduction assembly can deflect outwards relative to the axis of the base body so as to drive the end effector or the whole formed by the end effector and the deflection assembly to extend outwards. The end effector is driven by the abduction assembly or the whole formed by the end effector and the snake bone type deflection assembly is driven to extend outwards, and therefore the problem that in the prior art, a plurality of instrument arms