The invention provides a wire transmission structure, a surgical instrument and a surgical robot. The wire transmission structure includes a base, a first drive shaft, a second drive shaft, a third drive shaft, a first traction body group, a second traction body group, a A guide piece, a second guide piece, a third guide piece and a fourth guide piece; the base has a reference plane; each traction body group includes two traction bodies connected to a drive shaft, through which the drive shaft The rotation of the device can drive the corresponding two traction bodies to move in opposite directions, so as to drive a joint movement of the end assembly of the instrument respectively. Furthermore, the first traction body group and the second traction body group are taken as a whole, and through the action of the first guide member and the second guide member, they can drive the movement of the third joint of the end assembly of the instrument. Thus, the movement of the three joints of the end assembly of the instrument is driven by the four traction bodies, the transmission structure is simple, the space occupied is small, and the transmission efficiency is improved.