Robotic arm, slave operating device, and surgical robot

A robotic arm, being installed on an orientation platform, and comprising:

• an adjustment arm, which is in connection with the orientation platform and comprises a plurality of joints;
• a cyclone joint, which is in connection with the adjustment arm, wherein an axis passing through the cyclone joint is defined as a cyclone axis, and the cyclone axis does not pass through a remote center of manipulation (RC point);
• a deflection joint, which is in connection with the cyclone joint, wherein an axis passing through the deflection joint is defined as a deflection axis, and the deflection axis passes through the RC point;
• a parallelogram mechanism, which is in connection with the deflection joint and configured to move a surgical instrument around the RC point;
• and
• an instrument carrying arm, which is in connection with the parallelogram mechanism and configured to install the surgical instrument;
• wherein
• in a state where the cyclone joint is actuated, at least three joints of the adjustment arm are linked to maintain a position of the RC point in a reference coordinate system of the orientation platform constant.