Detection unit motor with a rotary shaft that rotates in response to the drive command signal (23), reduction gear coupled to the rotating shaft (44), for detecting the operating state of the motor manipulator, and (41), correction information periodically associates with the pipe body having a movable member which is driven through reduction gear (44) and (23) motor (22), the information of the engagement position of the gears constituting the reduction gear (44) a load that performs arithmetic processing for the detection information (41) detector and the drive command signal storage unit which stores in advance and (36b), the motor is (23) F feeding, acting on the motor by using the correction information further I have, and a notification unit load calculation unit that calculates as an estimate and (36a), to inform the calculation result of the load calculation unit (36a).マニピュレータは、駆動用指令信号に応じて回転する回転軸を備えたモータ(23)と、回転軸に連結された減速機(44)と、モータの動作状態を検出する検出部(41)と、モータ(23)により減速機(44)を介して駆動される可動体(22)を有する管体と、減速機(44)を構成するギアの噛合位置の情報に関連つけて周期的な補正情報を予め記憶する記憶部(36b)と、モータ(23)ヘ供給される駆動用指令信号と検出部(41)の検出情報に対する演算処理を行い、更に補正情報を用いてモータに作用する負荷を推定値として算出する負荷算出部(36a)と、負荷算出部(36a)の算出結果を告知する告知部と、を有する。
