Double-bending flexible surgical tool system

A double-bending flexible surgical tool system comprising:

• a mechanical arm comprising a first continuum segment, a rigid connection segment, a second continuum segment, and a third continuum segment, the first continuum segment and the second continuum segment being associated to form a first dual continuum mechanism, wherein the first continuum segment comprises a first continuum fixing disk and a plurality of pairs of direction-controlling continuum structural bones, the rigid connection segment comprises a rigid connection fixing disk, and distal ends of the plurality of pairs of direction-controlling continuum structural bones are connected with the rigid connection fixing disk;
• a proximal continuum segment disposed at a proximal end of the first continuum segment and associated with the third continuum segment disposed at a distal end of the second continuum segment to form a second dual continuum mechanism;
• and
• a transmission driving unit associated with the rigid connection segment and the proximal continuum segment, respectively, and configured to drive the first continuum segment to bend in any direction to drive the second continuum segment to bend in an opposite direction, and to drive the proximal continuum segment to bend in any direction to drive the third continuum segment to bend in an opposite direction.