In this study, the dynamic characteristics of a human spine inspired continuum robot (HSICR) are enhanced through topology optimization of joints modeled after intervertebral discs (IVDs), consisting of Annulus Fibrosus (AF) and Nucleus Pulposus (NP) sections. Using layerwise theory, the IVD-inspired joint is represented as a laminated structure where AF rings and the NP core possess independent degrees of freedom, enabling precise material distribution across layers. Unlike previous studies, this work applies layerwise theory within a cylindrical coordinate system, allowing for a more concise formulation of the governing equations and reducing computational complexity. This layerwise optimization reduces overall mass and rotational inertia, thereby improving the robot’s agility, responsiveness, and acceleration capabilities. Additionally, the optimized damping characteristics replicate the shock-absorbing behavior of natural discs, improving task repeatability, mechanical durability, and motion control accuracy through direction-specific flexibility. As a result, unintended motions and instability are minimized, while the use of smaller, energy-efficient actuators lowers heat buildup and power consumption during continuous operation.