This medical manipulator (10) is provided with a brake mechanism (134). The brake mechanism (134) is provided with a brake rotor (174) and a brake shoe (176) which can contact the outer periphery of the brake rotor (174). On the outer periphery of the brake rotor (174), a first gear (175A) is provided along the circumference. On the portion of the brake shoe (176) which is opposite of the outer periphery of the brake rotor (174), a second gear (175B) is provided which can mesh with the first gear (175A).
