A slip ring mechanism (96) for a medical manipulator (10), said slip ring mechanism (96) comprising: a rotating rod (98) that rotates together with a drive shaft (66)； rotating terminals (116a, 116b) that are positioned so as to be coaxial to the rotating rod (98)； conductive members (118a, 118b) that contact the rotating terminals (116a, 116b) and are electrically connected to an end effector (12)； holding members (120a, 120b) that hold the conductive members (118a, 118b) such that the conductive members (118a, 118b) are sandwiched between the holding members (120a, 120b) and the rotating terminals (116a, 116b)； and contact terminals (104a, 104b) that contact the rotating terminals (116a, 116b) so as to be capable of rotating and sliding relative thereto.
