| 摘要 |
Provided is a manipulator (1) including an elongated main unit (3), a bending portion (5), and a distal end portion (4) that are disposed in this order from a basal end; a plurality of main bending mechanisms (6) having main linear members (7) that extend from the distal end portion (4) to the main unit (3), main motive-power generating portions (12), and main motive-power transmitting portions (9,10, and 11) that transmit motive powers generated by the main motive-power generating portions (12) to the main linear members (7) in the form of linear motions in the longitudinal direction; a plurality of auxiliary bending mechanisms (16) that are provided so as to form pairs with the respective main bending mechanisms (6) and parallel thereto and that exert a pressing force and a tensile force on the distal end portion (4); and switching portions (151 and 152) that selectively actuate either the main bending mechanisms (6) or the auxiliary bending mechanisms (16), which are paired. |
