Disclosed are a flexible surgical instrument (100) and a driving unit (30) thereof. The flexible surgical instrument (100) may comprise a flexible continuous body structure (10) composed of a distal structural body (11), a middle connecting body (12) and a proximal structural body (13) linked in sequence. The driving unit (30) is linked to the flexible continuous body structure (10). When a structural backbone driving mechanism (310) in the driving unit (30) drives the proximal structural body (13) to turn in any direction, the distal structural body (11) correspondingly turns in the opposite direction. A surgical end effector driving mechanism (311) in the driving unit (30) can drive a surgical end effector (201) linked to the distal end of the distal structural body (11) to implement the action control of the surgical end effector (201).
