A medical manipulator system includes a manipulator having a first joint； a first detecting means detecting an orientation of the first joint； an operation unit having a second joint associated with the first joint for operating the first joint； a second detecting means detecting an orientation of the second joint； a control unit outputting a signal for operating the first joint, the signal being based on the orientation of the second joint detected by the second detecting means； and a display unit displaying information output by the control unit, wherein a display of the information by the display unit includes a first display indicating a predetermined range of an orientation determined by using the orientation of the first joint that is detected by the first detecting means as a reference and a second display indicating the orientation of the second joint that is detected by the second detecting means.
