A medical manipulator system includes: a first manipulator configured to change a position of an imaging section that images a target portion in a body； a second manipulator configured to change a position of an end effector that treats the target portion； a display section configured to display images from the imaging section； an operation section configured to generate an operation command for operating the first manipulator or the second manipulator； and a control section configured to select one of a plurality of control modes and control the first manipulator or the second manipulator based on the operation command.
