When the first forceps pulley (23) of the first forceps piece (20A) and the second forceps pulley (25) of the second forceps piece (20B) are rotated in opposite directions about the Y axis (yaw axis), the forceps (20) are rotated. ) Opens and closes, and when rotated in the same direction, changes the direction of the forceps, and the operating part (2) that can change the direction of the forceps around the P axis (pitch axis), and along the Z axis (main axis) direction. A manipulator having a first driving unit (51) having a slidable left driving pulley (512L) and a right driving pulley (512R) and an endless loop-shaped wire rope (6), wherein the loop-shaped wire rope is A first engaging body (61), a third engaging body (63), a second engaging body (62), and a fourth engaging body (64) are sequentially provided on the wire rope main body (60), and the first forceps pulley is provided with the first engaging body (61). The second engaging member is the second engaging member, the third engaging member is the left driving pulley, and the fourth engaging member is the right driving pulley. It is then routed to coalesce so as to respectively engaged.第１鉗子片(２０Ａ)の第１鉗子プーリ(２３)と、第２鉗子片(２０Ｂ)の第２鉗子プーリ(２５)をＹ軸（ヨー軸）回りで互いに反対方向へ回転すると鉗子(２０)が開閉動作し、同方向へ回転すると鉗子の向きを変更し、Ｐ軸（ピッチ軸）回りに鉗子の向きを変更可能とする作動部(２)と、Ｚ軸（主軸）方向に沿ってスライド移動可能な左駆動プーリ(５１２Ｌ)および右駆動プーリ(５１２Ｒ)を有する第１駆動部(５１)と、無端のループ状ワイヤロープ(６)とを有するマニピュレータであって、ループ状ワイヤロープは、ワイヤロープ本体(６０)に第１係合体(６１)、第３係合体(６３)、第２係合体(６２)、第４係合体(６４)を順に設け、第１鉗子プーリに第１係合体を、第２鉗子プーリに第２係合体を、左駆動プーリに第３係合体を、右駆動プーリに第４係合体をそれぞれ係合させるようにして配索してある。
