A medical manipulator includes: an insertion section having a main movable section and a distal end rigid section a manipulator at which a treatment section is provided an auxiliary movable section configured to move the treatment section an imaging section configured to acquire an image in a field-of-vision range a manipulation unit configured to output an instruction that specifies a position to which the treatment section is moved a display configured to display the image a determination unit configured to determine whether a condition is a partial movement condition or an entire movement condition when the determination unit receives the instruction and a driving unit configured to drive the auxiliary movable section, the main movable section, and the imaging section based on determination of the determination unit.
