Controlling Bones In Skinned Mesh

Alright, this may be a mouthful, but is there any way to constraint joints on skinned meshes to specific parts?

I want to make a chase sequence with the model I have below, I have a system where I have a bezier curve that goes around the map, and different parts, which represent the joints tween across the curve. I now want the joints in between each bone to go to those parts so the snake seamlessly tweens across the curve. Is this possible?