A medical manipulator system includes a treatment instrument (15) having a joint element (19), an encoder (26) detecting an orientation of the joint element (19), an operation input device (3) having a joint (6) associated with the joint element (19) to operate the joint element (19), an encoder (7) detecting an orientation of the joint (6), a controller (30) controlling the treatment instrument (15) and the operation input device (3) based on the orientation of the joint element (19) detected by the encoder (26) and the orientation of the joint (6) detected by the encoder (7), and a display unit (8) displaying information under control of the controller (30), wherein the controller (30) outputs the information indicating the orientation of the joint element (19) and the orientation of the joint (6) to the display unit (8).
