The present invention relates to a medical manipulator 30 which includes: a driving unit 6 configured to at least include an vibration-type actuator 10； a manipulator portion 5 configured to at least include an inserting portion 18 to be inserted in a living body and configured to be connected to the driving unit 6 and be moved when driven by the driving unit 6； a support unit 4 configured to support the driving unit 6 and the manipulator portion 5； a driving circuit 9 configured to be connected to the vibration-type actuator 10 and output a driving signal 42 which drives a vibration-type actuator 10 to the vibration-type actuator 10； and a stress compensation unit 11 configured to reduce stress produced in the inserting portion 18 due to a motion of the living body.
