Surgical robot system and flexible surgical instrument

A flexible surgical instrument, comprising:

• a flexible instrument;
• and
• an instrument drive device that is configured to output a driving force to the flexible instrument, wherein
• the flexible instrument comprises an instrument conveying unit, an actuator unit and a transmission unit, wherein
• the instrument conveying unit comprises a housing and an instrument storage component, the housing has an internal accommodating space, an instrument outlet is provided on a side wall of the housing, an outer peripheral surface of the instrument storage component is provided with a spiral accommodating groove configured for accommodating a flexible body of the actuator unit in a wound manner, and at least part of the instrument storage component is arranged inside the housing and is rotatable and axially movable relative to the housing;
• the actuator unit comprises an actuator and the flexible body, the flexible body comprises a drive wire and a sleeve tube in which the drive wire is inserted, and the actuator is arranged at a distal end of the drive wire;
• the transmission unit comprises a transmission base plate that is drivingly connected to the instrument drive device, and the transmission base plate is connected to the instrument storage component of the instrument conveying unit to drive the instrument storage component to rotate and move axially relative to the housing;
• and
• the transmission unit further comprises an actuation transmission assembly and a rotation transmission assembly that are arranged on the transmission base plate, wherein the actuation transmission assembly is configured to be driven by the instrument drive device to extend or retract the drive wire, and the rotation transmission assembly is configured to be driven by the instrument drive device to rotate the drive wire.