We have fabricated a manipulation system with a force detection, which uses a self-sensing cantilever, in a chamber of a scanning electron microscope. This system can simultaneously manipulate a nanoparticle and detect a force needed to move it, a detection resolution of which is approximately 1 nN. In this work, nanoscale peeling processes of a multi-walled carbon nanotube (MWCNT) on the graphite substrate have been studied.