A kind of manipulator is provided( 1 )Equipped with movable part( 3 ),Drive part( 4 ),Power supply is thus generated to moving part( 3 )The elongated long guide member of flexibility( 2 )Wherein movable part( 3 )Connection at one end with drive part( 4 )It is connected to the other end,Elongate tension transmission member( 5 )Across the long guide member of interior lumen( 2 )Slip over and transmit the drive part of power( 4 )To movable part( 3 )Pass through tension,Tension adjustment mechanism( 6 )The adjustment tension transmission member of that tension( 5 ),It keeps to these drive parts( 4 )It is detachably connected,In the accompanying drawings: tension adjustment mechanism( 6 )Equipped with tensioning apparatus( 14 ),One is movably disposed at the tension transmission member in the orthogonal direction in the longitudinal direction( 5 )And tension transmission member is drawn( 5 ),Pressurizing member,It is arranged to make stretcher part( 14 )It is mobile,Work as actuator( 4 )It is connected to holding part
