A flexible surgical tool system comprising: a mechanical arm disposed at distal side of the flexible surgical tool system, and comprising a first continuum segment , a rigid connection segment , and a second continuum segment , the first continuum segment and the second continuum segment being sequentially associated to form a dual continuum mechanism; a surgical effector connected at distal end of the second continuum segment ; and a transmission driving unit associated with the rigid connection segment and with a surgical effector , respectively, and operable to drive the first continuum segment to bend in any direction to drive the second continuum segment to bend in an opposite direction, and to drive the surgical effector to rotate in a first plane and/or open and close in a second plane; wherein the first continuum segment comprises a first continuum fixing disk and a plurality of pairs of direction-controlling continuum structural bones , and the rigid connection segment comprises a rigid connection fixing disk ; and distal ends of each pair of direction-controlling continuum structural bones are connected with the rigid connection fixing disk , and proximal ends of each pair of direction-controlling continuum structural bones pass through the first continuum fixing disk ; wherein the second continuum segment comprises a second continuum fixing disk and a plurality of dual continuum structural bones ; and characterized in that the distal end of each dual continuum structural bone is connected with the second continuum fixing disk , and the proximal end of each dual continuum structural bone passes through the rigid connection fixing disk and is connected with the first continuum fixing disk . a mechanical arm disposed at distal side of the flexible surgical tool system, and comprising a first continuum segment , a rigid connection segment , and a second continuum segment , the first continuum segment and the second continuum segment being sequentially associated to form a dual continuum mechanism; a surgical effector connected at distal end of the second continuum segment ; and a transmission driving unit associated with the rigid connection segment and with a surgical effector , respectively, and operable to drive the first continuum segment to bend in any direction to drive the second continuum segment to bend in an opposite direction, and to drive the surgical effector to rotate in a first plane and/or open and close in a second plane; wherein the first continuum segment comprises a first continuum fixing disk and a plurality of pairs of direction-controlling continuum structural bones , and the rigid connection segment comprises a rigid connection fixing disk ; and distal ends of each pair of direction-controlling continuum structural bones are connected with the rigid connection fixing disk , and proximal ends of each pair of direction-controlling continuum structural bones pass through the first continuum fixing disk ; wherein the second continuum segment comprises a second continuum fixing disk and a plurality of dual continuum structural bones ; and characterized in that the distal end of each dual continuum structural bone is connected with the second continuum fixing disk , and the proximal end of each dual continuum structural bone passes through the rigid connection fixing disk and is connected with the first continuum fixing disk . <EOS>