A medical system including a manipulator having a longitudinal portion with a proximal end and a distal end； a rotation driving unit connected to the longitudinal portion for rotating the proximal end； an uneven portion disposed on an outer circumference surface in the vicinity of the distal end and being along a helix； a bendable portion disposed at the distal end； a bending driving unit bending the bendable portion； a shape sensor unit detecting a bending amount and a bending direction of the bendable portion； a rotation angle sensor unit detecting a rotation angle and a rotation direction of the longitudinal portion； and a control unit controlling operations of the rotation driving unit and the bending driving unit, wherein the distal end and the uneven portion are rotatable about the longitudinal axis following the rotation of the proximal end when the proximal end is rotated by the rotation driving unit.
