A kind of robotic surgery instrument, comprising: axis Articulated section, the hinge point are used for hinged end effector in the far-end of the axis, and the articulated section can be driven by a pair of of driving element And instrument interface, the instrument interface is located at the proximal end of the axis, the instrument interface includes: instrument interface element, the instrument interface element is for driving the pair of driving element, the instrument interface element can make fastly the displacement of the instrument interface element be passed to the pair of driving element in shift range internal shift, the pair of driving element as the instrument interface element Strainer, the strainer is for being tensioned the pair of driving element And registration mechanism, when the end effector has predetermined configurations, the registration mechanism is used to the displaced position of the instrument interface element being set to predetermined alignment position, and the registration mechanism is independently of the strainer.
