To obtain an accurate sensor and an accurate actuator which provide real tactile feedback by arranging a set of extended concentric touch tubes along an operation shaft and fitting the successive inside tubes into corresponding actuators.

A set of touch tubes 76, 78, and 80 are arranged along the operation shaft 81 in a telescopic manner through the actuators 70. A catheter 14' is connected to the corresponding tubes 76, 78, and 80 by a joint 86. The respective actuators 70 move to engage the corresponding tubes 76, 78, and 80 and are arranged without impeding the movement of other tubes. The actuators 70 sense the axial movement of the corresponding tubes 76, 78, and 80 and the rotation on the axis by sensors and have motors generating axial forces and torque to the corresponding tubes 76, 78, and 80 in response to corresponding signals of a driving signal 52.