This medical manipulator system is provided with: a manipulator (3) provided with a flexible insertion part, a moveable unit disposed at the distal end of the insertion part, a drive unit (12) detachably attached to the proximal end of the insertion part, and a pair of tensile force transmission members in which the drive force generated in the drive unit (12) is transmitted by tensile force, and the moveable unit is operated in the forward or reverse direction a manipulation information input unit (24) for inputting the operational commands of the manipulator (3) and a control unit (4) for controlling the drive unit (12) on the basis of the inputted operational commands. The drive unit (12) is provided with a displacement sensor (15) for detecting the displacement direction and displacement amount of the tensile force transmission members, and a tensile force difference sensor for detecting the tensile force difference between the pair of tensile force transmission members. The control unit (4) is provided with a storage unit (19) for storing the characteristics of the tensile force transmission members, and a parameter setting unit (21) for setting control parameters for controlling the drive unit (12), on the basis of the characteristics stored in the storage unit (19), and the detected tensile force difference, displacement direction, and displacement amount.Linvention concerne un système de manipulateur médical qui comprend : un manipulateur (3) ayant une partie dinsertion souple, une unité mobile disposée au niveau de lextrémité distale de la partie dinsertion, une unité dentraînement (12) fixée de manière détachable à lextrémité proximale de la partie dinsertion, et une paire déléments de transmission de force de traction dans lesquels la force dentraînement générée dans lunité dentraînement (12) est transmise par une force de traction, et lunité mobile est actionnée dans la direction avant ou arrière une unité dentrée dinformations de manipulation (24) pour
