PROBLEM TO BE SOLVED: To improve operability of an end effector which performs treatment to an object to be treated.SOLUTION: A manipulator 10 includes a shaft 16, a distal end operation section 14 having a gripper 12, and a handle 18 for operating the gripper 12. The shaft 16 includes an outer cylinder 84 mounted on and fixed to the handle 18, and an inner cylinder 86 inserted in the outer cylinder 84. The handle 18 includes a forward and backward movement mechanism 98 for moving the inner cylinder 86 in distal end and proximal end directions relative to the outer cylinder 84, and a rotation mechanism 88 for rotating the inner cylinder 86 relative to the outer cylinder 84 between a position at which the inner cylinder 86 is moved to a distal end side and a position at which it is moved to a proximal end side by the forward and backward movement mechanism 98.COPYRIGHT: (C)2014,JPO&INPIT【課題】処置対象に処置を行うエンドエフェクタの動作性を一層高める。【解決手段】マニピュレータ10は、シャフト16と、グリッパ12を有する先端動作部14と、グリッパ12を動作させるハンドル18とを備える。シャフト16は、ハンドル18に装着固定される外筒84と、外筒84内を挿通する内筒86とを備える。ハンドル18は、外筒84と相対的に内筒86を先端及び基端方向に移動させる進退移動機構98と、進退移動機構98により内筒86が先端側に移動した位置と基端側に移動した位置との間で、外筒84と相対的に内筒86を回転させる回転機構88とを備える。【選択図】図20
