A snake-like joint for a surgical robot, a surgical instrument, and an endoscope. The snake-like joint for a surgical robot has at least one degree of freedom, and comprises at least one joint connector pair (10) and a flexible structure (20). Each joint connector pair (10) comprises two joint connectors (11, 12). Each joint connector (11, 12) comprises a base plate, and a protrusion (111, 121) and a groove (112, 122) that are provided on the surface of the base plate. The surfaces of the base plates of the two joint connectors (11, 12) are oppositely disposed, so that the protrusion (111, 121) of each of the joint connectors (11, 12) can be rotatably disposed in the groove (112, 122) of the other of the joint connectors (11, 12). The flexible structure (20) can be used for controlling swing of the joint connector pair (10). When the two joint connectors (11, 12) are mated with each other, the lines between the protrusions (111, 121) and the grooves (112, 122) of the two joint connectors (11, 12) are collinear. Each of the protrusions (111, 121) has an arc-shaped convex surface with the central angle being 180°-360°. Each of the grooves (112, 122) has an arc-shaped concave surface with the central angle being 180°-360°. By means of the snake-like joint, planar torsion or spatial torsion is achieved, and the structural complexity is reduced.Linvention concerne une articulation de type serpent pour un robot chirurgical, un instrument chirurgical et un endoscope. Larticulation de type serpent pour un robot chirurgical présente au moins un degré de liberté et comprend au moins une paire de raccords darticulation (10) et une structure souple (20). Chaque paire de raccords darticulation (10) comprend deux raccords darticulation (11, 12). Chaque raccord darticulation (11 12) comprend une plaque de base ainsi quune saillie (111, 121) et une rainure (112, 122) qui sont disposées sur la surface de la plaque de base. Les surfaces des plaques de base des deux raccords darticula
