The present invention includes: a robot main body (2) including a hollow flexible shaft (25) having flexibility, a hollow bending joint (27, 28) including a proximal end (27a) continuous with a distal end (25b) of the flexible shaft, the bending joint being bendable in a direction perpendicular to an axis of the bending joint, a wrist joint (30) continuous with a distal end (28b) of the bending joint and rotatable around an axis of the wrist joint, an end effector (22) attached to the wrist joint, a hollow torque transmission tube(44) having flexibility, inserted through the flexible shaft and the bending joint, and including a distal end (44b) attached to the wrist joint, and a bending joint operating cable (41, 42) inserted through the flexible shaft and including a distal end (43a) attached to the bending joint, the bending joint being configured to perform a bending operation by operating the bending joint operating cable in an extending direction of the bending joint operating cable； a guide pipe (6) having flexibility, the flexible shaft being inserted through the guide pipe； and a robot main body driving mechanism (51) including a bending joint driving portion (35, 36) configured to operate the bending joint operating cable in the extending direction of the bending joint operating cable by driving force of the bending joint driving portion and a wrist joint driving portion (38) configured to rotate a proximal end of the torque transmission tube by driving force of the wrist joint driving portion.
