A medical manipulator system according to the present invention is provided with: a manipulator； a manipulator channel； a route that extends along the manipulator channel； a shape sensor that detects shape information of the manipulator channel； a shape-sensor driving portion that causes the shape sensor to be driven； a manipulator driving portion that causes the manipulator to be driven； a positional-information calculating portion that calculates positional information of the shape sensor on the basis of a driven amount of the shape-sensor driving portion； a shape estimating portion that estimates a bent shape of the manipulator on the basis of the shape information of the manipulator channel and the positional information； a control-parameter calculating portion that calculates a control parameter of the manipulator from the bent-shape information； and a manipulator controller that controls the manipulator on the basis of the control parameter.
