| 摘要 |
Provided is a manipulator (1) equipped with a movable part (3), a drive part (4) that generates power to be supplied to the movable part (3), an elongated, flexible long guide member (2) in which the movable part (3) is attached to one end and the drive part (4) is attached to the other end, an elongated tension transmitting member (5) through which a lumen inside the long guide member (2) passes and which transmits the power of the drive part (4) to the movable part (3) by means of tension, a tension adjusting mechanism (6) that adjusts the tension of the tension transmitting member (5), and a holding part to which the drive part (4) can be detachably attached, wherein: the tension adjusting mechanism (6) is equipped with a tensioner (14) which is movably provided in the direction orthogonal to the longitudinal direction of the tension transmitting member (5) and pulls the tension transmitting member (5), and a pressing member that is provided to the holding part and causes the tensioner (14) to move when the drive part (4) is attached to the holding part. |
