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 swing wheel, the third guide piece and the fourth guide piece; the base has a symmetrical plane; each traction body group includes two traction bodies connected to a drive shaft, through the rotation of the drive shaft, it can drive the corresponding The two traction bodies move in opposite directions and are used 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 respectively as a whole can move in opposite directions through the action of the two guides on the oscillating wheel, so as to drive the third joint movement 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.