Surgical robot ultrasonic knife instrument transmission device

The utility model relates to a surgical robot ultrasonic knife instrument transmission device which comprises a slender shaft, an opening and closing driving mechanism and a rotation driving mechanism, and the slender shaft comprises an inner tube used for being connected with an ultrasonic knife instrument and an outer tube which is sleeved on the inner tube in a sliding mode and can slide relative to the inner tube in the axial direction. The opening and closing driving mechanism comprises a driving unit and a synchronizing unit, the synchronizing unit is rotatably connected with the inner pipe, and the driving unit is in transmission connection with the synchronizing unit; the rotation driving mechanism is in transmission connection with the outer pipe to drive the outer pipe to rotate. Compared with the prior art, the transmission device can drive the inner tube to move in the axial direction and drive the outer tube to move in the circumferential direction, the opening, closing and rotating functions of