A medical manipulator system includes: an endoscope a first manipulator equipped with a first treatment tool at a distal end thereof a second manipulator equipped with a second treatment tool at a distal end thereof a display for a user to view and a controller configured to generate an image to be displayed on the display. The controller is configured to: acquire a first image taken by the endoscope, the first image contains the first treatment tool and in response to determining that the second treatment tool does not exist in the first image: calculate a relative distance and a relative direction between the first treatment tool and the second treatment tool generate a second image showing the relative distance and the relative direction between the first treatment tool and the second treatment tool and send the first image and the second image to the display.
