This medical manipulator includes a body section, an insertion section, a channel, a movement amount detection section configured to detect an amount of movement of a medical treatment tool inserted through a body-side channel provided in the body section, a distal-end-side contact section provided to be in contact with the medical treatment tool inserted through an insertion-side channel arranged in the insertion section and configured to rotate about its own axis to move the medical treatment tool, a drive section configured to rotate the distal-end-side contact section； and a drive amount adjustment section to move the medical treatment tool with respect to the insertion-side channel by an amount of movement which is the same as an amount of movement detected by the movement amount detection section by rotating the distal-end-side contact section by the drive section.
