This medical manipulator (10) is provided with a brake release mechanism (136). The brake release mechanism (136) is provided with a release button (202) which is provided on a tilt wheel (26), and a lever mechanism (204) which has at least one portion arranged on the inside of the tilt wheel (26) and which is pressed when the release button (202) moves inwards. By the action of the lever mechanism (204) when the release button (202) is operated, braking by a brake mechanism (134) is released.
