Even when the treatment tool is engaged with the drive unit after the treatment tool is inserted into the body, the manipulator system capable of reducing the influence on the surroundings and accurately engaging the treatment tool with the drive unit I will provide a. The manipulator system 1 is attached to the treatment instrument 3, and is attached to the drive member 21 and a first engagement portion 41 a formed on each of the first drive force transmission members 41 to which drive force is transmitted from the plurality of drive members 21. The engagement detection unit is configured to attach and detach each of the second engagement portions 42a formed on the plurality of second drive force transmission members 42 that transmit the drive force to the plurality of first drive force transmission members 41, respectively. When the detection is performed separately and the engagement of the first engagement portion 41a and the second engagement portion 42a is detected, the detected second engagement portion 42a among the plurality of second driving force transmission members 42 is formed. The driving of the driving member 21 that generates the driving force for driving the second driving force transmitting member 42 is stopped.処置具を体内に挿入した後で、処置具と駆動部の係合を行う場合であっても、周囲への影響を減らし、処置具と駆動部を的確に係合することが可能なマニピュレータシステムを提供する。 マニピュレータシステム１は、処置具３に取り付けられ、複数の駆動部材２１からそれぞれ駆動力が伝達される第１駆動力伝達部材４１にそれぞれ形成された第１係合部４１ａと、駆動部材２１に取り付けられ、複数の第１駆動力伝達部材４１にそれぞれ駆動力を伝達する複数の第２駆動力伝達部材４２にそれぞれ形成された第２係合部４２ａと、のそれぞれの着脱を係合検知部が別々に検知し、第１係合部４１ａと第２係合部４２ａの係合を検知した場合、複数の第２駆動力伝達部材４２のうち検知された第２係合部４２ａが形成された第２駆動力伝達部材４２を駆動する駆動力を発生する駆動部材２１の駆動を停止させることを特徴とする。
