The type of even an existing endoscope that does not hold property information is identified. Provided is a medical manipulator system (1) including: an endoscope (2) including an image-capturing unit； a manipulator (3) that holds the endoscope 2 at a distal end thereof and that moves the endoscope 2； an operating unit (4) for allowing an operator to input an operating command； a control unit (5) for controlling the manipulator (3) based on the operating command input to the operating unit (4)； an insertion receiving member (6) having a through-hole (10) into which the endoscope (2) is inserted when the endoscope (2) is used； and a scope-type recognition unit for recognizing the type of the endoscope (2) based on an image, including an inner surface of the through-hole (10), that is acquired by the endoscope (2) in a state where the endoscope (2) is inserted into the through-hole (10).
