Guide member for soft manipulator and soft manipulator

摘要

Improved operability when controlling the movable portion arranged at the distal end of the flexible insertion portion (6) on the proximal end side of the insertion portion (6) or controllability when controlling by the elongated driving force transmission member (8). For this purpose, a guide member (11) for a flexible manipulator according to the present invention includes an elongated flexible insertion portion (6), a movable portion disposed at the distal end of the insertion portion (6), and an insertion portion (6 ), And a driving force transmitting member provided in the insertion portion (6) of the flexible manipulator including a driving unit (10) that transmits the power of the driving unit to the movable unit. A lumen (12) that penetrates (10) in the longitudinal direction is provided, and the lumen (12) has a shape twisted around the longitudinal axis of the insertion portion (6).