A medical manipulator system including: a placement table on which a patient is placed at least one manipulator configured to support a treatment tool which is configured to treat the patient, the manipulator configured to adjust a position and an orientation of the treatment tool a base portion configured to support the manipulator a sensor configured to detect objects which are present in a predetermined area including the manipulator and the placement table and a controller including at least one processor, wherein the processor is configured to: calculate degrees of proximity between the objects detected by the sensor and the manipulator, and generate, in case that the calculated degrees of proximity exceed a predetermined threshold, a control signal for preventing interference between the objects and the manipulator.
