A medical manipulator is improved in terms of invasiveness into a body tissue and an emergency avoidance difficulty. The medical manipulator includes a driving unit including a vibration-type actuator including a vibrating unit that generates a vibration wave, a moving unit movable relative to the vibrating unit in response to receiving the vibration wave, and a pressure application unit configured to apply a pressure between the vibrating unit and the moving unit. The medical manipulator further includes a manipulator unit connected to the driving unit and configured to be movable by being driven by the driving unit, a supporting unit that supports the driving unit and the manipulator unit, a driving circuit connected to the vibrating unit and configured to apply an AC voltage to the vibrating unit, and a torque control unit configured to control a holding torque with which the moving unit is held by the vibrating unit.
