A control unit (30) of a medical manipulator system (1) controls a link mechanism (8) according to a control procedure for controlling the link mechanism (8), the control procedure including a first step of determining the presence or absence of an input to a mode change input unit (22), a second step of acquiring a state of the medical manipulator system (1), and a third step of selecting, based on the state acquired in the second step, one control mode suitable for the state from a plurality of control modes.
