A medical manipulator comprising a distal end side and a proximal end side, comprising a distal unit including an end effector on the distal end side, a joint assembly located on a proximal end side of the end effector and a first power transmission assembly for transmission in a longitudinal direction of a linear motion force for actuation of the end effector or the joint assembly, and a proximal unit including a driver on the proximal end side for generating power for actuating the end effector or the joint assembly and a second power transmission assembly for transmission of power generated from the driver to the distal end side. The distal unit includes a first linear motion force conversion mechanism linked to the first power transmission assembly to convert power from the second power transmission assembly to a linear motion force.
