A medical manipulator system (1) of the present invention includes: a medical instrument (5) having a shape insertable into an elongated tube passage and in which one or a plurality of flexion portions (51b) are provided a flexing actuator (52a) for supplying a driving force to flex the flexion portion (51b) an actuator control section (7) for controlling the flexing actuator (52a) a detecting section (21d,21e) provided inside the tube passage to output a detection signal when detecting that the flexion portion (51b) passes therethrough and a computing section (71) for performing computation to match a flexed state of the flexion portion (51b) passing through the detecting section (21d,21e) to an operating state of an operation portion operable to flex the flexion portion based on an operation amount of the flexing actuator (52a) detected when the detection signal is inputted.
