A flexible multi-joint surgical micro-instrument for robot-assisted minimally invasive surgery, in order to solve the problem that the existing minimally invasive surgical robot surgery micro-instrument cannot be positioned, moved and other operations in the patient's body relying on the surgical micro-instrument itself. The transmission mechanism is installed on the drive box, and the six connection holes correspond to the first installation hole, the second installation hole, the third installation hole, the fourth installation hole, the fifth installation hole and the sixth installation hole respectively. A transmission part is installed in the hole, and the first bending transmission mechanism, the second bending transmission mechanism, the third bending transmission mechanism, the fourth bending transmission mechanism, the surgical forceps opening and closing transmission mechanism and the surgical forceps rotation transmission mechanism are respectively connected with the corresponding transmission parts , the lower end of each transmission part is connected with the micro-drive motor, the rear end of the catheter is connected with the catheter fixing part, the front end of the catheter is connected with the flexible bending arm mechanism, and the front end of the flexible bending arm mechanism is connected with the surgical forceps mechanism. The invention is used for abdominal surgery.