Minimally invasive techniques bring revolutionary progress in surgical manipulation via reduced incision, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have not only benefited patient on further cosmetic surgical performance, but also surgeon on improved manipulability by flexible mechanism. In order to achieve necessary dexterity, we developed a multiple degree of freedoms (DOFs) manipulator for surgical assistance. The surgical manipulator consists of two serial bendable segments, and each bendable segment is composed of three parallel universal-joint based bending linkages. The parallel configuration in a single bendable segment can achieve Omni-bending orientation in space, and the hybrid structure enlarges manipulator's flexibility via redundancy mechanism. A shape optimization algorithm is proposed to construct the inverse kinematics of the redundancy structure. The bending experiments of the surgical manipulator to evaluate the positioning accuracy are performed, the experimental results demonstrated that the mean positioning error of the end effector is within 1.2 mm. It is capable of providing a solution for accurate manipulation of soft tissue.