A medical manipulator system including: a treatment tool unit including an arm portion having an arm with a joint and an end effector attached to the arm； an overtube having a lumen through which the treatment tool unit is inserted； a drive source configured to generate a drive force for driving the joint； a controller configured to generate an operation signal for operating the drive source； and a detector configured to detect friction generated between an inner surface of the lumen and the treatment tool unit. The controller calculates a correction amount for adjusting the operation signal based on the detected friction.
