Stiffness-reinforced surgical system and control method thereof

A stiffness-reinforced surgical system, the system comprising:

• a plurality of links provided rotatably with each other to form a joint device, the plurality of links including a first link body, a second link body, and a third link body, arranged consecutively, the first link body being formed with a first auxiliary tendon hole, the second link body being formed with a second auxiliary tendon hole, and the third link body being formed with a third auxiliary tendon hole;
• a main tendon configured to form a traction force for driving the links;
• an auxiliary tendon configured to form a traction force to resist rotation of the links, the auxiliary tendon being configured to pass through the first, second, and third auxiliary tendon holes;
• and
• a controller configured to control the traction forces of the main tendon and the auxiliary tendon,
• wherein the first auxiliary tendon hole is spaced apart from an auxiliary line perpendicular to a central axis of the plurality of links by a first distance, the second auxiliary tendon hole is spaced apart from the auxiliary line by a second distance, and the third auxiliary tendon hole is spaced apart from the auxiliary line by a third distance, with the first distance being greater than the second distance, and the auxiliary tendon holes are aligned along a continuously curved path defining a variable offset relative to the auxiliary line.