The poly glenoid manipulator devices the multiple joints (18) the tubular component which it possesses have (2). One end is locked by the vicinity of the joint to the tubular component, the other end has passed the Drive section (25) the multiple linear power transmission components which are locked (19) the Interpolation. The Drive section (25), the linear power transmission component (19) it moves, is crooked the tubular component (2). The position transducer (26), the linear power transmission component (19) position is detected, the tension detector (27), that tension is detected. The function part (6) the tubular component (2) and the installation and others re is the component (16) inputs position and the attitude which are made target of the attention region to that. The movement magnitude calculation section (11), the linear power transmission component which is detected (19) it calculates the present position and attitude of the attention region from position, it calculates the linear power transmission component which is necessary in order to make the attention region position and the attitude move which are made target from present position and attitude (19) the movement magnitude, the tension detector (27) the linear power transmission component which is detected (19) on the basis of tension.多関節マニピュレータ装置は、複数の関節部(18)を有する管状部材(2)を備える。管状部材には、一端が関節部の近傍に固定され、他端が駆動部(25)に固定された複数の線状動力伝達部材(19)が挿通している。駆動部(25)は、線状動力伝達部材(19)を移動させ、管状部材(2)を屈曲させる。位置検出器(26)は、線状動力伝達部材(19)の位置を検出し、張力検出器(27)は、その張力を検出する。操作部(6)は、管状部材(2)及びそれに取り付けられた部材(16)の注目部位の目標とする位置及び姿勢を入力する。移動量算出部(11)は、検出された線状動力伝達部材(19)の位置から注目部位の現在の位置及び姿勢を算出し、現在の位置及び姿勢から目標とする位置及び姿勢に注目部位を移動させるために必要な線状動力伝達部材(19)の移動量を、張力検出器(27)が検出した線状動力伝達部材(19)の張力に基づいて算出する。
