To improve the accuracy of attitude control of a flexible manipulator.A wire driving manipulator includes a plurality of flexible linear members, a driving unit that drives the plurality of flexible linear members, a distal end member, and a proximity member that is provided closer to the driving unit than the distal end member And a curved portion that is configured to be bendable by driving the plurality of linear members, wherein the plurality of flexible linear members are joined to the tip member The flexible linear members of a part of the plurality of flexible linear members are further coupled to the guide member and the flexible portions of the plurality of flexible linear members are flexible And the sexual linear member is configured to be slidable with respect to the guide member.BACKGROUND OF THE INVENTION【課題】 可撓性マニピュレータの姿勢制御の精度を向上させる。【解決手段】 ワイヤ駆動マニピュレータは、複数の可撓性線状部材と、前記複数の可撓性線状部材を駆動する駆動部と、先端部材と、前記先端部材よりも前記駆動部に近く設けられた案内部材と、を含み、前記複数の線状部材の駆動により湾曲可能に構成された湾曲部と、を有し、前記複数の可撓性線状部材が、前記先端部材に結合されるとともに、前記複数の可撓性線状部材の一部の可撓性線状部材は、さらに、前記案内部材にも結合され、前記複数の可撓性線状部材の別の一部の可撓性線状部材は、前記案内部材に対して摺動可能に構成されたことを特徴とする。【選択図】 図1
