A medical manipulator system according to the present invention includes a soft inserting portion, a movable portion provided at the distal end of the insertion portion, a driving portion detachably provided at a proximal end of the insertion portion, A manipulator (3) including a manipulator (3) having a manipulator (3) and a pair of tension transmission members for transmitting the generated driving force by tension and operating the movable part in forward and reverse directions, an operation information input part (24) for inputting an operation command of the manipulator And a control section (4) for controlling the drive section (12) based on the input operation command, wherein the drive section (12) comprises a displacement sensor (15) for detecting the displacement direction and the displacement amount of the tension transmission member, And a tension difference sensor (16) for detecting a tension difference between the pair of tension transmission members, wherein the control section (4) comprises a storage section (19) for storing the characteristics of the tension transmission member, a storage section And the characteristic stored in Comprising a tension difference, the parameter setting unit for setting a control parameter for controlling displacement and on the basis of the displacement direction driving portion (12) and (21).本発明の医療用マニピュレータシステムは、軟性の挿入部と、挿入部先端に設けられた可動部と、挿入部基端に着脱可能に設けられた駆動部(12)と、駆動部(12)において発生した駆動力を張力により伝達し可動部を正逆方向に動作させる一対の張力伝達部材とを備えるマニピュレータ(3)と、マニピュレータ(3)の動作指令を入力する操作情報入力部(24)と、入力された動作指令に基づいて駆動部(12)を制御する制御部(4)とを備え、駆動部(12)が、張力伝達部材の変位方向および変位量を検出する変位センサ(15)と、一対の張力伝達部材の張力差を検出する張力差センサ(16)とを備え、制御部(4)が、張力伝達部材の特性を記憶する記憶部(19)と、記憶部(19)に記憶されている特性と、検出された張力差、変位量および変位方向とに基づき駆動部(12)を制御するための制御パラメータを設定するパラメータ設定部(21)とを備える。
