A medical manipulator system includes a master manipulator, a slave manipulator, a first image forming device configured to acquire a first image, a second image forming device configured to form a second image, a display device configured to display the first image and the second image, a selection means configured to select one image from the first image and the second image, a transforming means configured to transform the operating command sent by the master manipulator to a corresponding new command such that the selected image coordinate system coincides with the operational coordinate system being used by the master manipulator, and a driving means configured to cause the slave manipulator to move in accordance with the new command.
