A movable part (3), a drive part (4) for generating power to be supplied to the movable part (3), and a long and thin long guide for attaching the movable part (3) at one end and the drive part (4) at the other end A member (2), an elongated tension transmission member (5) for transmitting the power of the drive unit (4) to the movable part (3) by tension, and a tension adjustment mechanism (6) for adjusting the tension of the tension transmission member (5) And a long guide member (2) covering an elongated soft guide tube (11) having a lumen (10) penetrating the tension transmitting member (5) in the longitudinal direction and an outer periphery of the guide tube (11) The base end (13) is provided so as to be movable in the longitudinal direction of the guide tube (11) with respect to the drive unit (4), and includes an outer sheath (12) having higher rigidity than the guide tube (11), The tension adjusting mechanism (6) is an outer member for the drive unit (4). Providing manipulator (1) for adjusting the longitudinal direction along the position of the scan (12) the guide tube of the base end portion (13) (11).可動部（３）と、可動部（３）に供給する動力を発生する駆動部（４）と、一端に可動部（３）、他端に駆動部（４）を取り付ける細長い軟性の長尺ガイド部材（２）と、駆動部（４）の動力を張力により可動部（３）に伝達する細長い張力伝達部材（５）と、張力伝達部材（５）の張力を調節する張力調節機構（６）とを備え、長尺ガイド部材（２）が、張力伝達部材（５）を長手方向に貫通させるルーメン（１０）を有する細長い軟性のガイドチューブ（１１）と、ガイドチューブ（１１）の外周を被覆し、基端部（１３）が駆動部（４）に対してガイドチューブ（１１）の長手方向に移動可能に設けられ、ガイドチューブ（１１）よりも高剛性のアウタシース（１２）とを備え、張力調節機構（６）が、駆動部（４）に対するアウタシース（１２）の基端部（１３）のガイドチューブ（１１）の長手方向に沿う位置を調節するマニピュレータ（１）を提供する。
