Disclosed is a single-port endoscopic surgical system, comprising a flexible surgical instrument (10), an imaging tool (30), catheter bodies (40, 40) and driving bodies (50, 50). The flexible surgical instrument (10) comprises a first flexible arm body (102), a surgical executor (101) and a first driving transmission unit (104). The imaging tool (30) comprises a second flexible arm body (302), an imaging illumination module (301) and a second driving transmission unit (304). Each catheter body (40, 40) comprises a catheter (410, 410) and a multi-lumen catheter body (401). Each driving body (50, 50) comprises a skeleton (501, 501) linked to the catheter body (40, 40) and a plurality of driving modules (503, 504) fixedly connected to the skeleton (501, 501). The driving modules (503, 504) realize an overall feeding degree of freedom, an overall rotating degree of freedom and a turning degree of freedom of the first flexible arm body (102) through the first driving transmission unit (104) linked to the driving modules, and realize an overall feeding degree of freedom and a turning degree of freedom of the second flexible arm body (302) through the second driving transmission unit (304) linked to the driving modules.Linvention concerne un système chirurgical endoscopique à orifice unique, comprenant un instrument chirurgical flexible (10), un outil dimagerie (30), des corps de cathéter (40, 40) et des corps dentraînement (50, 50). Linstrument chirurgical flexible (10) comprend un premier corps de bras flexible (102), un exécuteur chirurgical (101) et une première unité de transmission dentraînement (104). Loutil dimagerie (30) comprend un second corps de bras flexible (302), un module déclairage dimagerie (301) et une seconde unité de transmission dentraînement (304). Chaque corps de cathéter (40, 40) comprend un cathéter (410, 410) et un corps de cathéter à lumières multiples (401). Chaque corps dentraînement (50, 50) comprend un squelette (501, 501) relié au corps de
