A control unit (100) of a medical manipulator system has a position recognition unit (101) that recognizes the positions of a first manipulator and a second manipulator, an interference prediction unit (103) that predicts whether or not the first manipulator interferes with the second manipulator in a case where the first manipulator is moved along a first movement path, and a mode selection unit (107) that selects any one of a first mode and a second mode such that the first mode is selected in a case where the interference prediction unit (103) predicts that the first manipulator does not interfere with the second manipulator, and the second mode is selected in a case where the interference prediction unit (103) predicts that the first manipulator interferes with the second manipulator, and selects one mode from a plurality of operation modes so as to shift from the first mode or the second mode to a third mode in a case where a torque sensor (14) detects contact between the first manipulator and an obstacle while the control unit (100) is operating in the first mode or the second mode.
