Provided is a manipulator system including: a flexible inserted portion； a manipulator that has a joint portion that is driven at the distal end of the inserted portion； a drive portion that drives the joint portion on the basal-end side of the inserted portion； a shape estimating portion that estimates the shape of the inserted portion； and a control portion that controls the drive portion based on the shape of the estimated inserted portion, wherein the shape estimating portion is provided with detection targets that are arranged, with spaces therebetween, in the inserted portion in the longitudinal direction thereof, a position detection portion that detects three-dimensional positions of the detection targets, and a shape calculating portion that calculates, on the basis of the three-dimensional positions of the detected detection targets, the shape of the inserted portion by dividing the inserted portion into sections in the longitudinal direction thereof.
