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Pub. No.:    WO/2018/105001    International Application No.:    PCT/JP2016/086054
Publication Date: Fri Jun 15 01:59:59 CEST 2018 International Filing Date: Tue Dec 06 00:59:59 CET 2016
IPC: B25J 17/02
Inventors: HASEGAWA, Mitsuaki
長谷川 満彰
The present invention addresses the problem of suppressing a difference in the path length of a plurality of power transmission members with regard to the entire curved length of an insertion part, and preventing a decrease in the controllability of a movable part by reducing friction applied to the power transmission members. This flexible manipulator (1) is provided with: a long member (2) which is formed in an elongated and flexible tube shape and is provided with two or more paths that longitudinally pass through and are disposed radially outward with respect to a central axis; a movable part (4) disposed on the distal end of the long member; a drive part (5) disposed on the proximal end of the long member; two or more elongated power transmission members (6) which are disposed passing through the path of the long member and transmit the power of the drive part to the movable part; a curved length measuring part (7) which measures the curved length of the long member; and a curved length adjusting part (8) which bends the long member in the vicinity of the proximal end of the long member such that the curved length of the long member becomes a predetermined length, as measured by the curved length measuring part.