This　paper　proposes　a　stretch-retractable　single-section　(SRSS)　continuum　manipulator.　Its　backbone　is　composed　by　a　series　of　springs.　Thus,　this　continuum　manipulator　owns　feature　of　a　large-scale　stretch-retractable　ability.　With　such　a　feature,　different　from　traditional　single-section　continuum　manipulator　which　distal　end　moves　in　a　curved　surface,　the　presented　manipulator＇s　distal　end　has　a　solid　work　space.　The　kinematic　model　including　the　variable　parameter　of　backbone　length　was　established,　and　the　stretch-retractable　workspace　was　analyzed,　with　which　the　driving　strategy　was　proposed.　The　prototype　was　made　out　based　on　the　concept　of　the　large-scale　stretch-retractable　backbone.　The　driving　patterns　with　single　parameter　input　and　the　driving　patterns　with　multi　parameter　inputs　were　carried　out.　The　tests　verified　the　presented　SRSS　continuum　manipulator.