snake-shaped articulation for surgical robot with at least two articulation connectors (10) and flexible structure. each pair of connectors with a first (11) at the bottom end and a second (12) at the top end. the first with the first base plate (110)； first support structure (111) and second (112) are provided on a first surface of the first plate； a first protrusion (113) is provided in the first structure and a first connection hole (114) is provided in the second structure. the second connector with the second base plate (120)； third support structure (121) and fourth (122) are provided on the second surface of the second plate； a second protrusion (123) is provided in the third structure and a second orifice (124) is provided in the fourth. when the first connector and the second are coupled, the first surface and the second face each other, the first projection is in the second hole and can rotate in relation to it, and the second projection is in the first hole and can rotate in relation to it . the flexible structure controls the connectors to oscillate around the pivot axis. by oscillating the connectors, planar or spatial torsion is obtained. surgical instrument and endoscope comprising a snake-shaped joint for a surgical robot. the rear end of the instrument or imaging system can be brought to the desired position and posture.articulação formato cobra para robô cirúrgico com pelo menos dois conectores de articulação (10) e estrutura flexível. cada par de conectores com um primeiro (11) na extremidade inferior e um segundo (12) na superior. o primeiro com primeira placa de base (110)； primeira estrutura de suporte (111) e segunda (112) são fornecidas em uma primeira superfície da primeira placa； uma primeira saliência (113) é fornecida na primeira estrutura e primeiro orifício de ligação (114) é fornecido na segunda estrutura. o segundo conector com segunda placa de base (120)； terceira estrutura de suporte (121) e quarta (122) são fornecidas em segunda su
