A medical system (1) includes: a distal end having an imager (5) and a plurality of joints a drive part (15) configured to generate power for operating the joints and a controller (51) configured to control the drive part (15), and the controller (51) includes: a characteristic point setting part (53) configured to extract characteristic points of an object and recognizes the object based on the characteristic points a distance measurement part (54) configured to measure the distance between the imager (5) and the object a correction amount calculation part (63) configured to calculate the amount of operation of the joints such that the imager (5) is directed to the object and adjust the distance between the imager (5) and the object to a predetermined distance and a drive signal generation part (65) configured to generate a drive signal for operating the drive part (15) based on the amount of operation and output the drive signal to the drive part (15).
