For bending a manipulator without excessive increase in a tensile force acting on a driving power transmitting member, a manipulator (3) is provided with: a movable portion (7)； a driving unit (8)； a guide member (6) to which the movable portion (7) is attached at one end thereof and the driving unit is attached at the other end thereof； and a driving power transmitting members (9) that transmit the driving power from the driving unit (8) to the movable portion (7), wherein the guide member (6) includes a guide tube (16) that has lumens (15a, 15b), and an outer sheath that has a greater rigidity than the guide tube (16) and that covers an outer circumference of the guide tube (16), and one end of the outer sheath (17) is movable in a longitudinal direction with respect to the movable portion (7) or the driving unit (8).
