Instrument drive and surgical robot

A surgical robot, comprising an instrument drive, the instrument drive comprising:

• a carrier defining an opening;
• a first circuit board covering the opening and fixed to the carrier, the first circuit board and the carrier enclosing a receiving space;
• the first circuit board defining a through hole, the through hole communicating the receiving space to an external environment;
• an actuating assembly comprising a reducer output shaft, the reducer output shaft being partly disposed in the receiving space and extending out of the receiving space via the through hole, the reducer output shaft being rotatable about an axis of the reducer output shaft;
• a drive output assembly coupled to the reducer output shaft, the drive output assembly being rotatable with the reducer output shaft about the axis of the reducer output shaft, the drive output assembly being disposed at an end of the reducer output shaft away from the receiving space;
• a first encoder comprising:
• a first encoder rotating portion fixed to the reducer output shaft, the first encoder rotating portion being rotatable with the reducer output shaft about the axis of the reducer output shaft, the first encoder rotating portion being disposed in the receiving space;
• a first encoder stationary portion being at least a portion of the first circuit board, the first encoder stationary portion configured to cooperate with the first encoder rotating portion to detect rotation of the drive output assembly;
• wherein one or more of the drive output assembly, the first encoder rotating portion, or the reducer output shaft is provided with a dynamic seal structure coupled to the first circuit board.