A manipulator including joint mechanisms each including: first and second members extending along a central axis； the second member disposed at a distal end of the first member and being swivelable relative to the first member about a swivel axis； a guide sheath extending near the central axis, a distal end of the guide sheath being fixed to the second member； a manipulation wire introduced toward the distal end of the guide sheath； and a pulley provided in the second member such that the manipulation wire is wound at least partially around the pulley to cause a distal end of the wire to change direction towards the first member, the pulley being rotatable about an axis parallel to the swivel axis； wherein the distal end of the manipulation wire is fixed to the first member near the inner surface of the through hole.
