Snakelike joint, surgical instrument and endoscope

The invention relates to a snakelike joint, a surgical instrument and an endoscope. The snakelike joint has at least one degree of freedom and comprises at least one joint connector, and the joint connector comprises a first joint, a second joint and a limiting mechanism; the first joint and the second joint are hinged through the limiting mechanism and form at least one pair of hinge axes, and the at least one pair of hinge axes are not collinear. The surgical instrument or endoscope includes an instrument tip that includes a serpentine joint. While the length of the snakelike joint is reduced, it is guaranteed that the snakelike joint has a large movement range, and therefore the surgical operation difficulty is reduced. 本发明涉及了一种蛇形关节、手术器械和内窥镜，所述蛇形关节具有至少一个自由度，并包括至少一个关节接头，所述关节接头包括第一关节、第二关节和限位机构；所述第一关节和第二关节通过所述限位机构铰接并形成至少一对铰接轴线，且至少一对所述铰接轴线不共线。所述手术器械或内窥镜包括器械末端，所述器械末端包括蛇形关节。本发明在减短蛇形关节的长度的同时保证了蛇形关节具有较大的运动范围，从而降低了手术操作难度。