A manipulator system (1) according to the present invention is provided with a manipulator system (1) according to the present invention for the purpose of bending a tension acting on a power transmission member penetrated into a lumen without excessively increasing the tension and appropriately operating a movable part according to a curved form, A manipulator (3) comprising a manipulator (3), an operating part (2), and a control part (4) for controlling the manipulator (3), wherein the manipulator (3) comprises a movable part and a drive part An elongated flexible elongated guide member for attaching the movable portion and the driving portion to both ends thereof, and a power transmission member for transmitting the power to the movable portion, wherein the long guide member has a lumen penetrating the power transmission member in the longitudinal direction , And an outer sheath having higher rigidity than the guide tube covering the outer periphery of the guide tube, wherein the proximal end of the outer sheath is provided with respect to the driving section Mounted movably in the longitudinal direction of the guide tube, the control unit (4) changes the control parameter according to the moving amount of the outer sheath.ルーメンに貫通させた動力伝達部材に作用する張力を過度に増大させずに湾曲させ、湾曲形態に応じて可動部を適正に動作させることを目的として、本発明に係るマニピュレータシステム(1)は、マニピュレータ(3)と、操作部(2)と、マニピュレータ(3)を制御する制御部(4)とを備え、マニピュレータ(3)が、可動部と、可動部に供給する動力を発生する駆動部と、両端に可動部および駆動部を取り付ける細長い軟性の長尺ガイド部材と、動力を可動部に伝達する動力伝達部材とを備え、長尺ガイド部材が、動力伝達部材を長手方向に貫通させるルーメンを有する細長い軟性のガイドチューブと、ガイドチューブの外周を被覆するガイドチューブより高剛性のアウタシースとを備え、アウタシースの基端が、駆動部に対して、ガイドチューブの長手方向に移動可能に取り付けられ、制御部(4)が、アウタシースの移動量に応じて制御パラメータを変更する。
