A medical manipulator system includes: a treatment tool including an arm with joints and an end effector provided at a distal end of the arm an insertion aid device an advancement/retraction driving unit configured to drive the treatment tool to be advanced/retracted in the insertion aid device an advancement/retraction operation unit configured to drive the advancement/retraction driving unit a stopper configured to limit an operation of the advancement/retraction driving unit by actuation an interference detector configured to be capable of detecting interference between an arm unit projected out of the insertion aid device and the insertion aid device and an operation instruction unit configured to be capable of actuating the stopper. The operation instruction unit limits retraction movement of the treatment tool with respect to the insertion aid device by actuating the stopper.
