A snake joint for a surgical robot comprises at least one joint connector pair (10) and a flexible structure. Each joint connector pair (10) comprises a first joint connector (11) at the lower end and a second joint connector (12) at the upper end. The first joint connector (11) includes a first base (110), a first support structure (111) and a second support structure (112) provided on a first surface of the first base (110), The first support structure (111) includes a first protrusion (113) and a second support structure (112) including a first connection hole (114). The second joint connector (12) includes a second base (120), a third support structure (121) and a fourth support structure (122) provided on a second surface of the second base (120), and The third support structure (121) has a second protrusion (123) and the fourth support structure (122) has a second connection hole (124). When the first joint connector (11) and the second joint connector (12) are engaged with each other, the first surface and the second surface face each other, and the first protrusion (113) includes the second connection hole (124). ) In the first connection hole (114) and rotatable with respect to the second connection hole (124 ), and the second protrusion (123) is in the first connection hole (114 ). 114) can be rotated. The flexible structure controls the joint connector pair (10) to pivot about the joint axis. The twisting of the joint connector pair (10) performs a planar twist or a spatial twist. The surgical instrument and the endoscope have a snake-like joint for the surgical robot so that the instrument end or the imaging system can reach a desired position and posture. [Selection diagram] Figure 1手術ロボット用ヘビ型ジョイントは、少なくとも１つのジョイントコネクタ対（１０）と可撓性構造体を備える。各ジョイントコネクタ対（１０）は、下端にある第１ジョイントコネクタ（１１）と上端にある第２ジョイントコネクタ（１２）を備える。第１ジョイントコネクタ（１１）は、第１ベース（１１０）と、第１ベース（１１０）の第１面に設けられる第１支持構造体（１１１）及び第２支持構造体（１１２）と、第１支持構造体（１１１）に設けられる第１突出部（１１３）と、第２支持構造体（１１２）に設けられる第１接続孔（１１４）とを備える。第２ジョイントコネクタ（１２）は、第２ベ
