For bending a manipulator without excessive increase in a tensile force acting on a driving power transmitting member, a manipulator is provided with: an end effector； a driving unit； a guide member to which the end effector is attached at one end thereof and the driving unit is attached at the other end thereof； and a driving power transmitting members that transmit the driving power from the driving unit to the end effector, wherein the guide member includes a guide tube that has lumens, and an outer sheath that has a greater rigidity than the guide tube and that covers an outer circumference of the guide tube, and one end of the outer sheath is movable in a longitudinal direction with respect to the end effector or the driving unit.
