A double-curved flexible surgical tool system, comprising: a robotic arm (10), the robotic arm (10) comprising a first continuous body segment (12), a rigid connection segment (13), a second continuous body segment (14) and a third continuous body segment (15), the first continuous body (12) and the second continuous body segment (14) being associated to form a first dual-continuous body mechanism； a proximal continuous body segment (17) is disposed at a proximal end of the first continuous body segment (12) and is associated with the third continuous body segment (15) disposed at a distal end of the second continuous body segment (14) to form a second dual-continuous body mechanism； a transmission driving unit (20) is associated with the rigid connection segment (13) and the proximal continuous body structure (17) respectively, and is used to drive the first continuous body structure (12) to turn in any direction, thereby couplingly driving the second continuous body segment (14) to turn in the opposite direction and is used to drive the proximal continuous body segment (17) to turn in any direction, thereby couplingly driving the third continuous body segment (15) to turn in the opposite direction. The present invention may be better applied through a natural cavity of the human body or through a single surgical incision and implement operation.La présente invention concerne un système d'instrument chirurgical flexible à double courbure, comprenant : un bras robotique (10), le bras robotique (10) comprenant un premier segment de corps continu (12), un segment de liaison rigide (13), un deuxième segment de corps continu (14) et un troisième segment de corps continu (15), le premier segment de corps continu (12) et le deuxième segment de corps continu (14) étant associés pour former un premier mécanisme de corps continu double ； un segment de corps continu proximal (17) est disposé au niveau d'une extrémité proximale du premier segment de corps continu (12) et est a
