Patent ID: 7101363

Claim:
A manipulator having a plural number of joints therein, wherein at least one joint of the joints comprises: two rotating members, disposed in opposing relation to each other; a driving means for driving one of said rotating members to cause a rotating movement to the other rotating member; said driving means including a guiding means attached on a rotational shaft of each of said rotating members, and a first wire having at least one end thereof fixed to said guiding means; and a means for keeping a distance between rotational centers of said two rotating members constant, wherein said joint is a second or subsequent joint from a tip of the manipulator, and a second wire for driving a first joint located nearer to said tip portion is guided to said first joint on a side of the tip portion, passing through said guiding means of said second or subsequent joint, and wherein each of the rotating members has a semicircular shape and is integrally formed with a tip of one of a base portion of the manipulator and a cylindrical portion of the manipulator.