A medical robot system has a plurality of first robot arms supporting respective manipulators thereon a second robot arm supporting an endoscope thereon and a controller for controlling the first robot arms and the second robot arm. The manipulators and endoscope are inserted into a body cavity through a common trocar supporting member, wherein each of said manipulators includes a rod-shaped member for insertion through the trocar supporting member into the body cavity, a distal-end working unit mounted on a distal end of the rod-shaped member and having at least one joint, and at least one intermediate joint disposed in the rod-shaped member for bending said rod-shaped member.
