A medical manipulator (10A) wherein a first section (11A) provided with a driven coupling (70) is detachably attached to a second section (22) provided with a driving coupling (50) that includes a drive source (20) and is driven by the drive source (20). The driving coupling (50) and the driven coupling (70) are fitted to each other to transmit the drive force from the drive source (20) to a tip-end operation part (18, 132). In at least one coupling among the driving coupling (50) and the driven coupling (70), tooth ends (76) on the side where the fitting of the driving coupling (50) and the driven coupling (70) begins when the first section (11A) and the second section (22) are connected become thinner towards the axial-direction end surface (76b).
