In order to detect, with high accuracy, the position of a manipulator protruding from a distal end of an insertion section and protect the manipulator from being withdrawn into a channel while the manipulator remains in a curved shape or prevent the manipulator accommodated in the channel from erroneously working, a manipulator system (1) according to the present invention includes: a manipulator (3) including an elongated flexible section (9), a movable section (10) provided at the distal end thereof, and a drive unit (11) for driving the movable section (10)； an insertion section (6) having a channel (8) through which the manipulator (3) passes and having flexibility； an advancing/retreating section (17) that causes the movable section (10) to protrude from, and to be withdrawn into, the distal end of the channel (8)； a protrusion-state acknowledgement section (45) for acknowledging a protrusion state in which the entire movable section (10) protrudes from the distal end of the channel (8)； and a restricting section that, when it is acknowledged that the protrusion state is achieved, restricts further retreating motion of the drive unit (11) with the advancing/retreating section (17).
