Manipulator and manipulator system

A manipulator including a distal end and a proximal end, comprising:

• an operating part located at the proximal end and operated by an operator;
• a moving part located at the distal end and made movable by the operating part;
• an operating part-side pulley located at the operating part to drive the moving part by way of a wire associated with rotational operation of the operating part;
• a motor adapted to rotate the operating part-side pulley;
• a controller comprising hardware, the controller being configured to control the motor,
• a first clutch located at the operating part to be capable of being disengaged from the operating part-side pulley;
• a second clutch located on the motor side to be capable of being disengaged from the operating part-side pulley;
• a first encoder located at the operating part to detect a direction of rotation of the operating part;
• and
• a second encoder located at the motor to detect an angle or direction of rotation of the motor,
• wherein when the operating part is rotationally operated in a first direction whereby the operating part is changed from a state where the moving part is bent into a second direction that is a reverse direction relative to the first direction, a direction of rotation of the operating part is detected by the first encoder, as a result of which the operating part-side pulley is disengaged from the first clutch by the controller, allowing the operating part-side pulley to be connected to the second clutch of the motor and the operating part-side pulley connected to the motor to pull the wire.