PROBLEM TO BE SOLVED: To provide a wire drive manipulator advantageous for improvement of accuracy of pushing/pulling a wire and controlling the posture of a bending part.SOLUTION: The wire drive manipulator comprises a first member and a second member provided at the proximal end side of the first member which have flexible linear members inserted therethrough together, and drives the flexible linear members to bend the first member and the second member. The first member comprises a joint part joined mechanically with the linear members, and the second member is independent of the first member and the linear members. Variation in the mean curvature of the first member caused by the drive of the linear members is larger than that of the second member.SELECTED DRAWING: Figure 1【課題】 ワイヤを押し引き駆動して湾曲部の姿勢を制御する際の精度向上に有利なワイヤ駆動マニピュレータを提供することができる。【解決手段】 ワイヤ駆動マニピュレータは、可撓性線状部材がともに挿通する第１の部材および第１の部材の基端側に設けられた第２の部材を有し、可撓性線状部材の駆動により第１の部材および第２の部材が湾曲するワイヤ駆動マニピュレータであって、第１の部材は、線状部材と機械的に結合された結合部を有し、第２の部材は、第１の部材および線状部材と独立しており、かつ、線状部材の駆動により生じる第１の部材の平均曲率の変化量が、第２の部材の平均曲率の変化量よりも大きいことを特徴とする。【選択図】 図１
