FLEXIBLE SURGICAL INSTRUMENT WITH MULTIPLE DEGREES OF FREEDOM

Disclosed is a multi-degree-of-freedom flexible surgical instrument, comprising a flexible continuous body structure (10) and a driving unit (20). The flexible continuous body structure (10) comprises a distal structural body (11), a proximal structural body (16) and a middle connecting body (15). The distal structural body (11) comprises a first distal structural segment (12) and a second distal structural segment (13). The proximal structural body (16) comprises a proximal structural segment. Second segment structural backbones (163) located on the proximal structural segment are securely connected in one-to-one correspondence to or are the same as second segment structural backbones (133) located on the second distal structural segment (13). The middle connecting body (15) comprises channel fixing plates (152), channel fixing blocks (153), first structural backbone guide channels (151) and second structural backbone guide channels (154). The driving unit (20) comprises a proximal structural segment driving handle (21) and a first distal structural segment driving assembly (22), the proximal structural segment driving handle (21) being securely connected to a proximal fixing disk (162). The first distal structural segment driving assembly (22) is located between the two channel fixing plates (152), and an output end of the first distal structural segment driving assembly comprises two sliders (228) moving in opposite directions along a straight line. One end of a first segment structural backbone (123) is securely connected to the slider (228), and the other end of the first segment structural backbone passes through the channel fixing block (153), the first structural backbone guide channel (151) and first distal spacing disks (121) in sequence and is then securely connected to a first distal fixing disk (122).