Provided is a medical manipulator system (1) including: a medical manipulator (3) having at least one joint (B) an operating section (2) that has an operating system (A) corresponding to the joint (B) of the medical manipulator (3) and that is operated by an operator and a control unit (4) for controlling the medical manipulator (3) according to an operation applied to the operating section (2), wherein the operating section (2) includes a switch (13), and the control unit (4), when a command resulting from operating the switch (13) is enabled, moves the joint (B) of the medical manipulator (3) in the direction in which the difference in position/orientation with respect to the operating system (A) of the operating section (2) is eliminated and, when the command resulting from operating the switch (13) is disabled, stops the position/orientation-difference eliminating motion.
