A snake-like joint for a surgical robot, comprising 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) comprises a first base plate (110)； a first support structure (111) and a second support structure (112) are provided on a first surface of the first base plate (110)； a first protrusion (113) is provided on the first support structure (111), and a first connection hole (114) is provided on the second support structure (112). The second joint connector (12) comprises a second base plate (120)； a third support structure (121) and a fourth support structure (122) are provided on a second surface of the second base plate (120)； a second protrusion (123) is provided on the third support structure (121), and a second connection hole (124) is provided on the fourth support structure (122). When the first joint connector (11) and the second joint connector (12) are mated with each other, the first surface and the second surface face each other, the first protrusion (113) is in the second connection hole (124) and can rotate relative to the second connection hole (124), and the second protrusion (123) is in the first connection hole (114) and can rotate relative to the first connection hole (114). The flexible structure controls the joint connector pair (10) to swing around a joint axis. By means of swing of the joint connector pair (10), planar torsion or spatial torsion is achieved. A surgical instrument and an endoscope, which comprise the snake-like joint for a surgical robot. The tail end of the instrument or an imaging system can be brought to a desired position and posture.
