Surgical-instrument clamping mechanism, end effector and surgical mechanical arm with end effector

The invention discloses a surgical-instrument clamping mechanism, an end effector and a surgical mechanical arm with the end effector. The surgical mechanical arm can adjust a punching track of a surgical instrument through remote controlling under guiding of real-time CT images, and guides the surgical instrument to be pushed into a target depth along a target punching track. Meanwhile, a surgical instrument feeding device at the tail end of the mechanical arm can be separated from the mechanical arm, and can achieve new jointing with the mechanical arm. The surgical instrument is separated from the mechanical arm, the surgical instrument can be matched with breathing movement for eliminating track offset, damage to a punching point and the like caused by rigid fixation of the mechanicalarm to the end of the surgical instrument, and under emergencies, the requirement of rapid releasing of the surgical instrument can also be met; the surgical instrument feeding device is newly jointedwith the mechanical arm, a relative position between the surgical instrument and the surgical mechanical arm can be recovered so that next puncturing track adjustment can be conducted.