Even in the case in which an inserted portion is bent in a complicated manner, a manipulator at the distal end thereof is controlled with high precision. Provided is a manipulator system including: a flexible inserted portion (10)； a manipulator (6) that has a joint portion that is driven at the distal end of the inserted portion (10)； a drive portion (7) that drives the joint portion of the manipulator (6) on the basal-end side of the inserted portion (10)； a shape estimating portion that estimates the shape of the inserted portion (10)； and a control portion that controls the drive portion (7) on the basis of the shape of the inserted portion (10) estimated by the shape estimating portion, wherein the shape estimating portion is provided with a plurality of detection targets (14) that are arranged, with spaces therebetween, in the inserted portion (10) in the longitudinal direction thereof, a position detection portion (15) that detects three-dimensional positions of the detection targets (14), and a shape calculating portion that calculates, on the basis of the three-dimensional positions of the detection targets (14) detected by the position detection portion (15), the shape of the inserted portion (10) by dividing the inserted portion (10) into a plurality of sections (SS) in the longitudinal direction thereof.
