Bending mechanism and surgical robotic arm including the same

A bending mechanism, comprising a flexible shell and a plurality of bending modules, wherein:

• the plurality of bending modules are connected in series;
• the bending modules are housed within the flexible shell;
• each of the bending modules comprises an adjustment drive assembly, a first adjustment shaft and a second adjustment shaft;
• the first adjustment shaft and the second adjustment shaft are movably connected by a connecting part;
• the adjustment drive assembly is connected to the first adjustment shaft and the second adjustment shaft, and the adjustment drive assembly is configured to drive an angle change between the first adjustment shaft and the second adjustment shaft;
• the adjustment drive assembly comprises a drive motor on the connecting part and an adjustment part connected to the second adjustment shaft;
• the adjustment part has an arc shape and an inner surface provided with teeth;
• and
• the drive motor includes a gear that meshes with the teeth.