Master-end operating device and surgical robot

A master-end operating device for a surgical robot, comprising:

• a device body, provided with a hollow cavity;
• a pair of rotating members, connected to the device body, disposed at two opposite sides of the device body respectively, and deflectable relative to the device body;
• driving shafts, wherein an end portion of a respective driving shaft of the driving shafts along a second direction is connected to a respective rotating member of the pair of rotating members;
• and
• driving blocks, wherein a respective driving block of the driving blocks is provided with a respective driving groove, and the respective driving shaft is at least partially disposed in the respective driving groove;
• wherein the respective driving groove has a first edge that is a projection of a side of the respective driving groove near a central plane of the device body on a plane perpendicular to the second direction, a vertical distance between the first edge and the central plane gradually increases in a direction away from a top end of the master-end operating device, and the first edge has a starting position tangent with the respective driving shaft and furthest away from the central plane in the vertical distance;
• the respective driving shaft is subjected to a force to make the respective driving shaft move away from the central plane along the first edge in response to the respective driving shaft being contact with the respective driving groove at the starting position;
• the respective rotating member obtains a feedback force in response to the rotating members deflecting to drive the respective driving shaft to move away from the starting position.