| 摘要 |
PROBLEM TO BE SOLVED: To arrange a tip end at a position easy to perform treatment of a target part positioned at any intraluminal position.SOLUTION: A manipulator 5 comprises a tip end side joint group 11 and a base end side joint group 12 arranged on a tip end part 10 of an insertion part in a longitudinal axis direction in an adjacent manner and making curve on the tip end part 10. The base end side joint group 12 comprises a plurality of base end side crooked joints 12a to 12d capable of making curve on the tip end part 10 at an angle of 180° or more by respectively being crooked around the axis lines aligned in parallel. The tip end side joint group 11 is arranged on the tip end side rather than the base end side joint group 12. The tip end side joint group 11 comprises first tip end side crooked joints 11a, 11b crooked around axis lines crossing a plane comprising axis lines of each of the base end side crooked joints 12a to 12d and the longitudinal axis, and a second tip end side crooked joint 11c arranged in a longitudinal axis direction of the axis lines of the first tip end side crooked joints 11a, 11b and being crooked around an axis line arranged in parallel with the axis lines of the base end side crooked joints 12a to 12d. |
