A manipulator includes an elongated portion； a bending portion coupled to a distal end of the elongated portion, the bending portion being formed by articulating a plurality of segment pieces； an end effector coupled to a distal end of the bending portion； an actuator coupled to a proximal end of the elongated portion； a first wire coupled to between the actuator and the end effector, the first wire being configured to actuate the end effector； and a second wire coupled to between the actuator and the bending portion, the second wire being configured to actuate the bending portion. Each of the plurality of segment pieces is configured to be articulated so as to be twisted with respect to a longitudinal central axis of the bending portion, and the first wire is configured to be inserted into the plurality of segment pieces so as to form a substantially twisted path.
