Medical manipulator system and manipulation device

A system comprising:

• a control device configured to:
• receive a manipulation input for controlling an actuator to drive a wire connected to a bending portion of an insertion portion of a medical manipulator, to bend the bending portion;
• control the actuator to pull the wire at a higher speed when the wire is slack, compared to when the wire is not slack;
• and
• determine whether the wire is slack or not based on a comparison between a threshold tension estimated based on a shape of the insertion portion and a tension of the wire.

A method comprising:

• receiving a manipulation input for controlling an actuator to drive a wire connected to a bending portion of an insertion portion of a medical manipulator, to bend the bending portion;
• controlling the actuator to pull the wire at a higher speed when the wire is slack compared to when the wire is not slack;
• and
• determining whether the wire is slack or not based on a comparison between a threshold tension estimated based on a shape of the insertion portion and a tension of the wire.