The flexible surgical instrument system (10) comprises a flexible continuum structure composed of a distal end structure (11), a middle connector (15) and a proximal end structure (16) that are primarily associated in sequence. And further including a transmission drive unit (21) associated with the proximal end structure (16), wherein the transmission drive unit (21) includes a plurality of correspondingly driven proximal end structures (17, 18), respectively. The transmission mechanism (22) includes a transmission mechanism (22), and the transmission mechanism (22) can convert a rotational motion input having a pair of axes parallel to a rotational motion output in which the pair of axes are orthogonal, and is parallel to the axis of the rotational motion input. One rotational motion output controls the orientation of the curved plane of the proximal end structure (17, 18) and the other rotational motion output perpendicular to the axis of the rotational motion input is the proximal end structure (17, 18). ) In the bending plane, thereby controlling the proximal end structure The proximal end structure (17, 18) in the body (16) is driven to bend in any direction and is further associated with the distal end structure (12, 12) in the distal end structure (11). 13) is driven to curve in the opposite direction.可撓性手術器具システム（１０）は、主に順に関連する遠位端構造体（１１）、中部コネクタ（１５）及び近位端構造体（１６）で構成された可撓性連続体構造を含み、近位端構造体（１６）に関連される伝動駆動ユニット（２１）を更に含み、伝動駆動ユニット（２１）は近位端構造部（１７、１８）をそれぞれ対応的に駆動する複数の伝動機構（２２）を含み、伝動機構（２２）は１対の軸線が平行である回転運動入力を１対の軸線が直交する回転運動出力に変換することができ、回転運動入力の軸線に平行な１つの回転運動出力は近位端構造部（１７、１８）の湾曲平面の向きを制御し、回転運動入力の軸線と垂直である他の回転運動出力は近位端構造部（１７、１８）の湾曲平面内における湾曲角度を制御し、それによって近位端構造体（１６）における近位端構造部（１７、１８）を、任意の方向に湾曲させるように駆動し、更にそれに関連される遠位端構造体（１１）における遠位端構造部（１２、１３）を、反対方向に湾曲させるように駆動する。
