Provided is a surgical system capable of securing a large movable range of a tip end of a surgical instrument even when the surgical instrument is inserted into a narrow region, for example, a region between bones, such as ribs. One example of the surgical system of the present invention includes: a manipulator (3)； a surgical instrument (42) including a shaft coupled to a tip end portion of the manipulator； a manipulation input portion (50) to which an operator inputs a command regarding a position and posture of the surgical instrument； a control apparatus (6) configured to control an operation of the manipulator based on the command input to the manipulation input portion； and a motion center position setting portion configured to set a desired position as a motion center position of the surgical instrument in the control apparatus, the desired position being located in an inner part under a body surface of the patient. The control apparatus (6) controls the operation of the manipulator such that when the control apparatus controls the manipulator (3) based on the command, input to the manipulation input portion (50), after the surgical instrument (42) is arranged with the shaft passing through the motion center position, the position and posture of the surgical instrument are changed while maintaining a state where the shaft is located at the motion center position.
