A medical manipulator system including an endoscope； a manipulator, the manipulator comprising a through-hole configured to hold the endoscope, wherein the manipulator is configured to move the endoscope； an operating unit configured to output an operating command； and a controller comprising one or more processors, the one or more processors configured to: acquire an image of the endoscope in a first configuration, the first configuration being a configuration of the endoscope at least partially inserted into the through-hole, the image comprising an inner surface of the through-hole； recognize a type of the endoscope based on the image； assign the endoscope to a recognized type of endoscope； receive an operating command from the operating unit； change the operating command based on the recognized type of endoscope to a changed operating command； and control the manipulator under the changed operating command.
