Hey Kateo, I asked a very similar question to this/made the suggestion for spline IK for animating a snake-like character since it was the first thing I attempted to animate with the program.
This is the response that I received. "spline ik, and multiple joint (beyond 2) ik are coming at some point around 1.0"
So no, there isn't any way to do that right now, but there will be in future.