Provided is a manipulator system (100) including: a manipulator (1) that has a treatment tool (6), an insertion portion (5) having a plurality of channels, and treatment-tool driving parts (13A and 13B) that move the treatment tool (6) forward/backward and/or rotate the treatment tool (6) in the corresponding channel an operation input unit (2) to which an operation instruction is input a channel-in-use detecting part (22) that detects the channel into which the treatment tool (6) has been inserted a compensation-value setting unit (3) that sets a compensation value on the basis of the channel detected by the channel-in-use detecting part (22) and a control unit (3) 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 (13A or 13B).
