Provided is a medical system (100) including a first slave arm (6L, 6R) a master arm (11R) having a joint configuration with a structure similar to that of a joint configuration of the first slave arm a second slave arm (6C) a manipulation-target switching unit (13) that switches a manipulation target to be manipulated with the master arm (11R) between the slave arms (6L, 6R 6C) and a controller (3) 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.
