Provided is a manipulator system including: a manipulator that has a treatment tool, an insertion portion having a plurality of channels, and treatment-tool driving parts that move the treatment tool forward/backward and/or rotate the treatment tool in the corresponding channel； an operation input unit to which an operation instruction is input； a channel-in-use detecting part that detects the channel into which the treatment tool has been inserted； a compensation-value setting unit that sets a compensation value on the basis of the channel detected by the channel-in-use detecting part； and a control unit that generates a control signal according to the operation instruction, compensates the generated control signal by using the compensation value, and sends the compensated control signal to the treatment-tool driving part.
