A cleaning method for a working mechanism for a medical manipulator, the working mechanism including a shaft, a force transmitting member in the shaft, a working unit at one end of the shaft with a working unit moved by the force transmitting member, and a cover over a portion of the working unit, with a gap between the cover and shaft, and a hole is disposed on a side of the cover. The method includes the steps of inserting an end of the shaft with the cover into one end of a tube, sealing the tube and shaft with a sealing element, disposing a sucking and discharging element on another end of the tube, and immersing another end of the shaft into a cleaning agent. By activating the sucking and discharging element, sucking and discharging of the cleaning agent is carried out repeatedly, from the other end of the shaft.
