Provided is a medical system including a first slave arm； a master arm having a joint configuration with a structure similar to that of a joint configuration of the first slave arm； a second slave arm； a manipulation-target switching unit that switches a manipulation target to be manipulated with the master arm between the slave arms； and a controller that is capable of switching between a first control mode and a second control mode in accordance with the joint configuration of the slave arm to be controlled. The first control mode is a mode for controlling rotation of joints of the first slave arm on the basis of rotation amounts of joints of the master arm. The second control mode is a mode for controlling rotation of joints of the second slave arm on the basis of a movement of a predetermined section of the master arm.
