This medical manipulator is provided with: a manipulation member that is connected to a treatment tool and actuates the treatment tool by driving a treatment tool-side drive shaft for driving the manipulation member by rotation about the shaft axis an actuation amount detection member connected to the treatment tool a treatment tool-side detection shaft rotated about the shaft axis by displacement of the actuation amount detection member a drive unit-side drive shaft which has a drive section for generating a drive force, is provided to a drive unit, and engages with the treatment tool-side drive shaft to transfer the drive force to the treatment tool-side drive shaft a drive unit-side detection shaft which has a detection section for detecting the amount of displacement of the actuation amount detection member, is provided to the drive unit, and engages with the treatment tool-side detection shaft, the rotation of the treatment tool-side detection shaft being transferred thereto a shape determining section for determining the shape of the treatment tool to be a predetermined actuated state of having been actuated by a predetermined actuation amount and a phase setting section for setting the phases of the treatment tool-side drive shaft and treatment tool-side detection shaft in the direction of rotation.La présente invention concerne un manipulateur médical doté de ce qui suit : un élément de manipulation raccordé à un outil thérapeutique et qui actionne loutil thérapeutique par entraînement un arbre dentraînement du côté outil thérapeutique permettant dentraîner lélément de manipulation par rotation autour de laxe de larbre un élément de détection de quantité dactionnement connecté à loutil thérapeutique un arbre de détection du côté outil thérapeutique qui tourne autour de laxe de larbre par déplacement de lélément de détection de quantité dactionnement un arbre dentraînement du côté unité dentraînement qui présente une section dentraînement permettant de pr
