The present invention includes: a robot main body driving mechanism (51)； a robot main body (2) including a hollow flexible shaft (25), a joint portion (26) including a bending joint (27, 28) and a proximal end (27a) continuous with a distal end (25b) of the flexible shaft, the bending joint receiving driving force of the robot main body driving mechanism to perform a bending operation, an end effector (22) provided at a distal end (30) of the joint portion, and a driving force transmission mechanism (24) connecting the bending joint and the robot main body driving mechanism and configured to transmit the driving force of the robot main body driving mechanism to the bending joint； and a rotation driving mechanism (53) configured to rotate the robot main body around an axis of a proximal end (25a) of the flexible shaft.
