The invention discloses a minimal invasive manipulator structure. The structure comprises a fixing part, a manipulator and a drive mechanism. A through hole is formed in the fixing part. The manipulator comprises clamp pincers and a manipulator body which is an elastic hollow stripe. The outer end of the manipulator penetrates through the through hole, and is connected with the center of the clamp pincers in a hinge mode. The inner end of the clamp pincers is connected with a push-pull part through a connection rod. The drive mechanism comprises an inner soft shaft and an outer soft shaft. The outer soft shaft is connected with outer side of the inner soft shaft in a sleeve mode. A first end of the outer soft shaft penetrates into the manipulator body, and is connected with the outer end of the manipulator body. A first end of the inner soft shaft is connected with the push-pull rod through a thread rod transmission mechanism. Two sides of the arm body have different bending strengths. When the outer and inner soft shafts are pulled, the outer end of the manipulator body is bent by force. When the inner soft shaft rotates in the outer soft shaft, the push-pull part is driven to push and pull the clamp pincers to achieve the clamping or opening. When the outer and inner soft shafts rotate in synchronization, the manipulator can be driven to rotate to reach different angles. The outer soft shaft and inner soft shaft are mutually connected in sleeve mode to achieve three motions of the manipulator, and simplify the structure of the minimal invasive manipulator structure.