A linear-member-driven manipulator is provided that includes a bendable member that is bendable along a bending plane and includes a plurality of bendable portions； a linear member used to bend at least one of the bendable portions； a plurality of guiding members that guide the linear member that is driven； and a plurality of support members, each support member extending from one of the guiding members to the bendable member, wherein each guiding member is swingable with respect to the bendable member； and wherein, for each support member, a projection distance between the linear member and the support member on the bending plane is greater than or equal to a projection distance between the linear member and a bending neutral line of the bendable member on the bending plane.
