To enhance the maneuverability when manipulating, or the controllability when controlling, a movable portion, which is disposed at a distal end of a flexible inserted portion (6), at a base-end side of the inserted portion (6) by using an elongated driving-force transmitting member (8), a flexible-manipulator guide member (11) according to the present invention is provided in the inserted portion (6) of a flexible manipulator including the elongated flexible inserted portion (6), the movable portion disposed at the distal end of the inserted portion (6), a drive portion disposed at the base end of the inserted portion (6), and the elongated driving-force transmitting member (10) that transmits motive power of the drive portion to the movable portion, and is provided with a lumen (12) through which the driving-force transmitting member (10) passes in the longitudinal direction, wherein the lumen (12) has a twisted shape about the longitudinal axis of the inserted portion (6).
