Flexible manipulator

A manipulator comprising:

• an elongated insertion unit;
• a movable unit disposed at a distal end of the insertion unit;
• a drive unit means for generating power to actuate the movable unit, the drive unit means being disposed at a proximal end of the insertion unit;
• two or more elongated drive-force-transmitting members means for transmitting the power;
• a flexible path-forming member means for forming, inside the insertion unit, two or more paths through which the two or more drive force-transmitting members means pass in a longitudinal direction, the two or more paths being formed on a radially outer side relative to a center axis of the insertion unit, a distal end of the path-forming member means being configured to be fixed to the insertion unit, and
• a proximal end of the path-forming member means being rotatable relative to the insertion unit about the center axis;
• and
• a rotating portion coupled to the proximal end of the path-forming member means and the drive unit means, the rotating portion being configured to rotate relative to the insertion unit about the center axis.

A medical manipulator comprising:

• an elongated flexible tube configured to be inserted into a body;
• an end effector disposed on a distal end of the elongated flexible tube;
• a proximal portion coupled to a proximal end of the elongated flexible tube, the proximal portion being configured to generate power for actuating the end effector;
• at least two wires configured to transmit the power to the end effector;
• at least two sheaths configured to form a path for each of the at least two wires within the elongated flexible tube;
• and
• a rotating member coupled to a proximal end of each of the at least two sheaths and the proximal portion, the rotating member being configured to rotate relative to the elongated flexible tube about a longitudinal axis of the elongated flexible tube.