An object of the present invention is to independently and intuitively control the angle of movement and position of a joint at a distal end of a shaft. A manipulator (1) of the present invention includes an elongated shaft (3), at least one joint (4) disposed at a distal end of the shaft (3), a manipulating part (6) via which a movement instruction for the joint (4) is input, and a driving unit (7) that drives the joint (4) according to the movement instruction input via the manipulating part (6). The manipulating part (6) includes a handle (9) fixed to the shaft (3) and gripped in one hand of an operator, a displaceable member (10) that is disposed at a position along which at least one finger of the hand gripping the handle (9) can be extended and that can be displaced by a movement of the finger extending therealong, and a sensor (11) that detects displacement of the displaceable member (10) and outputs it as the movement instruction.
