Provided is a manipulator (1) including an elongated main unit (3), a bending portion (5), and a distal end portion (4) that are disposed in this order from a basal end a plurality of main bending mechanisms (6) having main linear members (7) that extend from the distal end portion (4) to the main unit (3), main motive-power generating portions (12), and main motive-power transmitting portions (9,10, and 11) that transmit motive powers generated by the main motive-power generating portions (12) to the main linear members (7) in the form of linear motions in the longitudinal direction a plurality of auxiliary bending mechanisms (16) that are provided so as to form pairs with the respective main bending mechanisms (6) and parallel thereto and that exert a pressing force and a tensile force on the distal end portion (4) and switching portions (151 and 152) that selectively actuate either the main bending mechanisms (6) or the auxiliary bending mechanisms (16), which are paired.
