A control unit of a medical manipulator system has a position recognition unit that recognizes the positions of a first manipulator and a second manipulator, an interference prediction unit 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 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 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 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 detects contact between the first manipulator and an obstacle while the control unit is operating in the first mode or the second mode.
