Patent ID: 8277443

Claim:
A manipulator having a distal end side and a proximal end side thereof comprising: a drive member disposed on the proximal end side and being movable back and forth; a ring-like flexible member, part of which is connected to the drive member; an idle cylindrical member disposed closer to the distal end side than the drive member; a driven cylindrical member disposed closer to the distal end side than the idle cylindrical member, and being movable back and forth; a guide cylindrical member disposed between the idle cylindrical member and the driven cylindrical member; and an end effector being coupled to the driven cylindrical member, wherein the flexible member passes along both sides of the idle cylindrical member and is wound around the driven cylindrical member, and the flexible member crosses between the idle cylindrical member and the guide cylindrical member; and a return cylindrical member disposed closer to the distal end side than the driven cylindrical member, wherein the flexible member is wound around the driven cylindrical member and the return cylindrical member.