An instrument drive and a surgical robot are disclosed. The instrument drive includes a carrier, a first circuit board, an actuating assembly, a drive output assembly, and a first encoder. The carrier has an opening. The first circuit board covers the opening and is fixed to the carrier, and defines a through hole. The actuating assembly includes a reducer output shaft, and a portion of the reducer output shaft passes through the through hole. The drive output assembly is coupled to the reducer output shaft. The first encoder includes a first encoder rotating portion and a first encoder stationary portion, the first encoder stationary portion being at least a part of the first circuit board. At least one of the drive output assembly, the first encoder rotating portion, and the reducer output shaft is provided with a dynamic seal structure coupled to the first circuit board.