In present surgical operation, minimally invasive surgery has been progressing by development of medical technology. In particular, the endoscope is often utilized for cancer detection, and examination and treatment of the cancer are performed. The endoscopy can perform examination by the photograph or the video image. However, it is difficult to detect cancer visually. The surgery relying on only vision information is asked for high surgical skill of the operator. Therefore, it is thought that haptic information is necessary as well as visual information to perform surgery more safely. Especially, a forceps model device measuring haptic information is necessary to perform complicated surgery. Flexible actuator is one of the actuators with very small friction, and it consists of a linear motor and a thrust wire. Friction of linear motor is very small, and the thrust wire can transmit force. Therefore, flexible actuator is suitable to develop the forceps model device measuring haptic information. In this research, the endoscopic forceps with flexible actuator is developed. And performance of thrust wire is evaluated considering the usage environment of endoscope.