A robot body drive mechanism (51), a hollow flexible shaft (25), and a bending joint (27, 28) that receives a driving force of the robot body drive mechanism to perform a bending operation, and the proximal end (27a) The joint (26) connected to the distal end (25b) of the flexible shaft, the end effector (22) provided at the distal end (30) of the joint, the bending joint, and the robot body drive mechanism are connected. A robot body (2) having a driving force transmission mechanism (24) for transmitting the driving force of the robot body driving mechanism to the bending joint, and rotating the robot body about the axis of the proximal end (25a) of the flexible shaft. And a rotary drive mechanism (53) to be moved.ロボット本体駆動機構(51)と、中空の可撓シャフト(25)と、ロボット本体駆動機構の駆動力を受けて曲げ動作を行う曲げ関節(27,28)を含み、近位端(27a)が可撓シャフトの遠位端(25b)に連なる関節部(26)と、関節部の遠位端(30)に設けられたエンドエフェクタ(22)と、曲げ関節とロボット本体駆動機構とを接続し、ロボット本体駆動機構の駆動力を曲げ関節に伝達する駆動力伝達機構(24)と、を有するロボット本体(2)と、ロボット本体を可撓シャフトの近位端(25a)の軸線周りに回動させる回転駆動機構(53)と、を有する。
