A medical manipulator and a cleaning method therefor are provided. The medical manipulator includes an operation command unit equipped with a motor, and a working unit, which is detachable with respect to the operation command unit. A connector of the working unit is connected to the operation command unit, and includes pulleys that engage with the motor, the connector serving to rotatably retain the pulleys therein. The connector has an elongate shape extending in the longitudinal direction of a connecting shaft, and a first cleaning hole is arranged in an end portion of the connector that is opposite to a side on which the connecting shaft is connected. A second cleaning hole opens into an interior cavity, in the vicinity of an end portion on the side where the connecting shaft is connected. The end portions are shaped substantially hemispherically.